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Teaching regenerated trajectory optimizing method based on GA-PSO

A trajectory optimization and teaching technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult to obtain teaching trajectory, high skill requirements, high programming requirements, etc., to improve service life and mechanical performance, high tracking Accuracy, increased safety effect

Active Publication Date: 2019-06-18
TONGJI UNIV
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] To sum up, the traditional teaching technology uses a teaching box or a joystick for teaching, which requires high programming and complicated steps, and is not suitable for complex tasks. The direct teaching method requires high operator skills and is time-consuming. It is not easy to obtain a teaching track that meets the actual requirements

Method used

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  • Teaching regenerated trajectory optimizing method based on GA-PSO
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  • Teaching regenerated trajectory optimizing method based on GA-PSO

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Embodiment

[0056] Such as figure 1 As shown, the present invention proposes a teaching and reproduction trajectory optimization method based on the GA-PSO algorithm, which optimizes the time interval between trajectory points, so that the teaching trajectory can not only meet the kinematic constraints of the robot, but also achieve the optimal time. Excellent, reducing the requirements for operators, making direct teaching simple and easy.

[0057] The present invention down-samples the teaching track, optimizes the time interval between track points by using the GA-PSO optimization algorithm, and interpolates the track points by using cubic spline curves, so as to obtain the best time and meet the constraints of angular velocity and angular acceleration Teach track.

[0058] Specifically include the following steps:

[0059] 1) Teaching track sampling: When the operator drags the end of the robot to teach, according to the set sampling period, the angle values ​​of each joint of the r...

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Abstract

The invention relates to a teaching regenerated trajectory optimizing method based on GA-PSO. The method comprises the steps that 1), when direct teaching is conducted, sampling is conducted on the trajectory of a robot according to a set sampling period, and the angular value of each joint of the robot is recorded in real time; 2), a GA-PSO algorithm is adopted as an optimization algorithm to obtain the optimal trajectory point time interval sequence; 3), spline interpolation is conducted three times according to the optimized time interval sequence and corresponding sampling trajectory pointto obtain an optimized teaching trajectory; 4), when teaching trajectory regeneration is conducted, the optimized teaching trajectory is discretized according to the controlling period to be transmitted to the robot controller, and the whole teaching trajectory is completely regenerated. Compared with the prior art, the method has the advantages of redundant trajectory information removing, stable operation, halt and abrupt acceleration nonexistence and the like.

Description

technical field [0001] The invention relates to the field of industrial robot operation control, in particular to a method for optimizing teaching and reproduction trajectory based on GA-PSO algorithm. Background technique [0002] Teaching reproduction is the current mainstream operation control method for industrial robots. The commonly used teaching methods include teaching box teaching, joystick teaching, master-slave robot teaching and direct teaching. [0003] Among them, the direct teaching method can realize the teaching of complex trajectories by direct dragging. It has the advantages of simple operation and convenient teaching, and has high application value in some tasks that require the execution of complex trajectories. However, since the human hand may vibrate when teaching directly, and it is difficult to satisfy the angular velocity constraints and angular acceleration constraints of the robot during the teaching process, if the teaching trajectory is directl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/22
Inventor 陈启军周自强曾志颖刘成菊
Owner TONGJI UNIV
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