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
CN109807892BActive Publication Date: 2022-04-12浙江鲁邦智能装备科技有限公司
8 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
浙江鲁邦智能装备科技有限公司
Publication Date
2022-04-12

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More