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Cosine interpolation method of industrial robot under spatial linear movement

A technology of industrial robots and robots, which is applied in the direction of instruments, simulators, computer control, etc., and can solve problems such as sudden acceleration changes and infinite jerk

Active Publication Date: 2019-08-20
SHENZHEN COLIBRI TECH
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  • Application Information

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Problems solved by technology

[0003] The purpose of the present invention is to provide a cosine interpolation method for an industrial robot running in a straight line in space, aiming to solve the problem that the jerk will reach infinity at the start and end points of acceleration and deceleration or may cause a sudden change in acceleration

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  • Cosine interpolation method of industrial robot under spatial linear movement
  • Cosine interpolation method of industrial robot under spatial linear movement
  • Cosine interpolation method of industrial robot under spatial linear movement

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Embodiment Construction

[0027] like Figure 1-2 As shown, the cosine interpolation method of the industrial robot provided by the present invention under the linear operation in space is described in detail as follows:

[0028] Step S1, according to the position of the target point and the requirements of the robot setting parameters, determine the transition plan and process the entire trajectory in segments; in industry, more and more jobs are performed by robots, and interpolation processing is required during the robot movement process. According to the requirements between the point coordinates of the target position and the robot setting parameters, the determined trapezoidal transition scheme and the entire path trajectory should be segmented. In the process of segmentation, according to the commonly used trapezoidal Motion trajectory, divide the entire path of robot movement into P1→P2→P3→P4, and then from P4→P3→P2→P1, here the interpolation analysis is performed on the trajectory of P1→P2→P3...

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Abstract

The invention is applied to the field of movement trajectory technology improvement, and provides a cosine interpolation method of an industrial robot under spatial linear movement. The method comprises the steps: 1, a transition scheme is determined according to the target point position and the robot setting parameter requirements, and segmentation processing is conducted on an overall trajectory; 2, times of an accelerating segment, a uniform velocity segment and a decelerating segment are preliminarily planned by combining a cosine curve with starting velocities, terminal velocities, accelerating velocities and decelerating velocities which are set for various segments obtained by segmenting the overall trajectory; and 3, the interpolation point number is calculated by means of the various segment times planned in the step 2, and the time of the uniform velocity segment is recalculated according to a corresponding velocity and journey equation. The various trajectory segments are interpolated by adopting the cosine curve interpolation method, not only does the accelerating velocities distributed in various intervals become smooth, but also the accelerating velocities become smooth.

Description

technical field [0001] The invention belongs to the field of technical improvement of the movement trajectory of a moving robot, and in particular relates to a cosine interpolation method for an industrial robot running in a straight line in space. Background technique [0002] The interpolation planning of the robot plays an important role in the motion control of the robot, which directly affects the accuracy and speed of the control. For example, in the process of palletizing, spraying, grabbing, etc., the robot not only requires the robot to be accurately positioned at the end of the movement, but also requires the robot to reduce the takt time as much as possible when moving along the desired path to improve the efficiency of the robot. . For industrial robots, increasing the running speed of the robot cannot only increase the overall speed and jerk of the robot, but also requires reducing the rigid shock and vibration of the robot when it starts and stops while achiev...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/41
CPCG05B19/41G05B2219/34083
Inventor 马崟
Owner SHENZHEN COLIBRI TECH
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