A Smoothing Method for Welding Robot Motion Model
A welding robot and robot motion technology, applied in the field of robotics, can solve the problems of not meeting the real-time requirements of welding robot motion planning, stabilizing the phenomenon of sawtooth, slowing down the algorithm convergence speed, etc., to meet the real-time requirements, speed up the convergence speed, The effect of small consumption
Active Publication Date: 2022-03-15
苏州丽景智能科技有限公司
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Problems solved by technology
Although there are many kinds of welding robot motion models, in actual operation, the algorithm based on the non-smooth model of welding robot is relatively small and often produces sawtooth phenomenon at the stable point, which slows down the convergence speed of the algorithm and cannot meet the real-time requirements of welding robot motion planning. sexual demands
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[0063] The present invention is a smoothing method for the motion model of a welding robot. The smoothing method is a non-smooth optimization method proposed based on the non-smooth motion planning model problem of the welding robot. The non-smooth motion planning model problem of the welding robot is a motion planning problem. After mutating the motion planning problem, the non-smooth motion planning model of the welding robot is obtained.
[0064] In this embodiment, first review the welding robot motion planning problem:
[0065] The welding robot is defined as a tree-shaped welding robot with some rigid bodies assembled by joints, that is, the main body is a node and the joints are edges; the motion planning model includes a displacement control variable q(t), which is called a configuration, and the The parameter vector of the joint is the control variable of the motion planning model, and q(t) is abbreviated as q, and the admissible function q needs to satisfy the follow...
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The present invention relates to a smoothing method for the motion model of a welding robot. The smoothing method is a non-smooth optimization method proposed based on the non-smooth motion planning model problem of the welding robot. The non-smooth motion planning model problem is a motion planning problem. After the motion planning problem is mutated, the non-smooth motion planning model of the welding robot can be obtained. The smoothing method of the present invention solves the problem of optimizing the action of the welding robot, and obtains the power system of the welding robot. Under the optimization model with the energy of the welding robot as the performance index, the controller obtained through calculation enables the control system of the welding robot to quickly reach a stable state. And a relatively small consumption of the required energy can be achieved. The method of the invention is stable, and no sawtooth phenomenon will be generated at the stable point, thereby accelerating the convergence speed of the algorithm and meeting the real-time requirements of the motion planning of the welding robot.
Description
technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a smoothing method based on a non-smooth model of a robot. Background technique [0002] Robot technology is an intelligent technology that converts digital data into physical actions after processing. The core of any welding robot system research and development is the trajectory. The scientific solution to calculate the trajectory of the robot to achieve the desired purpose or complete the desired task is the robot. Motion planning model. Because of the diversity and uncertainty of the models and environments used for motion calculation, the motion planning model should be realized through closed-loop control. In a welding robot, because the task is determined in advance, it is required to achieve the maximum motion speed and robust performance under the constraints of the motion performance or under the constraints of the joint range, speed, and collision avoidance...
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IPC IPC(8): B25J9/16
Inventor 肖泽昊王帅孟凡云庞丽萍王金鹤赵伟
Owner 苏州丽景智能科技有限公司