A Kinematic Model Stabilized Cut Plane Method for Welding Robot
A welding robot and robot motion technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as fewer algorithms, achieve low consumption, meet real-time requirements, and speed up convergence.
Active Publication Date: 2022-04-19
浙江鲁邦智能装备科技有限公司
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Although there are many kinds of motion models for welding robots, in actual operation, there are few algorithms based on the non-smooth model of welding robots
Method used
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
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0072] The present invention is a method for stabilizing the motion model of a welding robot. The stable cutting 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 programming 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.
[0073] In this embodiment, first review the welding robot motion planning problem:
[0074] 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 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 PUM
Login to View More Abstract
The present invention relates to a method for stabilizing the cutting plane of the motion model of a welding robot. The stable cutting plane 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 mutating the motion planning problem, the non-smooth motion planning model of the welding robot can be obtained. The stable cut plane method of the present invention solves the problem of optimization of welding robot actions, 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 makes the control system of the welding robot quickly reach a stable state. , and can achieve relatively small consumption of required energy. 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 relates to a welding robot, in particular to a method for stabilizing a cutting plane of a motion model of a welding robot. Background technique [0002] Welding 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 movement trajectory, which is a scientific solution to calculate the movement trajectory of the welding robot to achieve the desired purpose or complete the desired task. It is the motion planning model of welding robot. 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 industrial welding robots, because the task is determined in advance, it is required to achieve the maximum motion speed and robustness performance under the constraints of the motion performance or under the...
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 Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00
Inventor 王帅庞丽萍孟凡云王金鹤肖泽昊赵伟
Owner 浙江鲁邦智能装备科技有限公司