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Discrete beam method for motion planning of welding robot

A technology of robot motion and motion planning, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as optimization and time-consuming

Active Publication Date: 2019-07-09
南京鲁邦智能科技有限公司
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Problems solved by technology

However, even for a simple robotic arm, optimizing the entire trajectory is time-consuming

Method used

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  • Discrete beam method for motion planning of welding robot
  • Discrete beam method for motion planning of welding robot
  • Discrete beam method for motion planning of welding robot

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Embodiment Construction

[0072] A discrete beam method for motion planning of a welding robot, the discrete beam method solves the problem of robot motion planning, and the welding robot is defined as a tree-shaped welding robot in which some rigid bodies are assembled by joints, that is, the main body is a node and the joint is an edge; The motion planning model includes a displacement control variable q(t), which is called configuration, and the parameter vector of the joint is the control variable of the motion planning model, q(t) is abbreviated as q, and the admissible function q needs to satisfy The following equation of motion EoM has physical meaning:

[0073]

[0074] Among them, the subscript r represents the welding robot, the subscript j represents the joint, and M r Indicates the inertia of the welding robot, B r Indicates the influence factor brought by the gravity and speed of the welding robot, M j Indicates the inertia of the joint, B j Indicates the influence factor brought by ...

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Abstract

The invention relates to a discrete beam method for motion planning of a welding robot. According to the discrete beam method, according to a motion planning model of the robot, motion planning problems are ascribed to a semi-infinite optimization problem, and solving is carried out through the discrete beam technology. When infinite multistep zero points are generated by an algorithm, the last stable center is the solution of the discrete approximation problem. The method is used for solving the motion operation problem of the robot, a mathematical model is set up according to practical requirements, and the performance of the robot is optimized under the condition of guaranteeing the stability of the robot.

Description

technical field [0001] The invention belongs to the technical field of automation control, and in particular relates to a discrete beam method for motion planning of a welding robot. Background technique [0002] Robot technology is an intelligent technology that converts digital data into physical actions after processing. The core of any 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 movement. planning. Because of the diversity and uncertainty of models and environments used for motion calculation, motion planning should be realized through closed-loop control. In industrial robots, 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 the constraints of the robot joint range, speed, and collision avoidance. There...

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Application Information

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IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1664B25J11/005
Inventor 庞丽萍吴奇吴琼王金鹤
Owner 南京鲁邦智能科技有限公司
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