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A Motion Planning Model of Automobile Welding Robot

A welding robot, robot motion technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of optimizing performance and improving processing speed

Active Publication Date: 2022-04-12
浙江鲁邦智能装备科技有限公司
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  • Claims
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AI Technical Summary

Problems solved by technology

The present invention uses an optimization method to solve the motion optimization problem of the automobile welding robot, establishes a mathematical model according to actual requirements, and optimizes the performance of the automobile welding robot under the condition of ensuring the stability of the welding automobile welding robot

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  • A Motion Planning Model of Automobile Welding Robot
  • A Motion Planning Model of Automobile Welding Robot
  • A Motion Planning Model of Automobile Welding Robot

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Embodiment Construction

[0039] In the motion planning model of the present invention, the automobile welding robot is defined as a tree-shaped automobile welding robot whose rigid body is assembled by joints, that is, the body is a node and the joint is an edge; the motion planning model includes a displacement control variable q (t), which is called the configuration, the parameter vector of the joint is the control variable of the motion planning model, and q(t) is abbreviated as q, and the allowable function q needs to satisfy the following equation of motion with physical meaning EoM :

[0040]

[0041] = where the subscript r represents the automobile welding robot, the subscript j represents the joint, and the M r Represents the inertia of the automotive welding robot, B r Indicates the influence factor brought by the gravity and speed of the automobile welding robot, M j represents the inertia of the joint, B j Indicates the influence factor brought by the gravity and speed of the joint,...

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Abstract

The present invention relates to a motion planning model of an automobile welding robot. The automobile welding robot is defined as a tree-shaped automobile welding robot assembled by some rigid bodies from joints, that is, the main body is a node and the joints are edges; the parameter vector of the joint is The control variable of the motion planning model, the admissible function satisfies the motion equation EoM, which is used as a constraint to form a motion planning model, and the solution method of the motion planning model is a welding robot node space non-smooth transformation method. The invention attributes the motion planning model problem to a non-smooth optimization problem, and the non-smooth optimization problem can be solved by parallel computing technology. The invention establishes a motion planning mathematical model according to actual requirements, and the model optimizes the performance of the automobile welding robot under the condition of ensuring the stability of the automobile welding robot.

Description

technical field [0001] The invention belongs to the technical field of automatic control, in particular to a motion planning model of an automobile welding robot. Background technique [0002] Robot technology is an intelligent technology that converts digital data into physical actions after processing digital data. The core of any robot system research and development is the motion trajectory. planning model. Because of the diversity and uncertainty of the models and environments used to perform motion calculations, motion planning models are implemented through closed-loop control. In automotive welding robots, because the tasks are determined in advance, it is required to achieve maximum motion speed and robust performance under the constraints of motion performance or under the constraints of joint range, speed, and collision avoidance of automotive welding robots. Therefore, the motion planning model can be reduced to the solution of an optimization problem. However...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00
Inventor 肖泽昊王金鹤孟凡云庞丽萍
Owner 浙江鲁邦智能装备科技有限公司
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