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A Cosine Interpolation Method for Industrial Robots Running in a Straight Line in Space

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

Active Publication Date: 2021-11-16
SHENZHEN COLIBRI TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • A Cosine Interpolation Method for Industrial Robots Running in a Straight Line in Space
  • A Cosine Interpolation Method for Industrial Robots Running in a Straight Line in Space
  • A Cosine Interpolation Method for Industrial Robots Running in a Straight Line in Space

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Embodiment Construction

[0027] Such as 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...

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Abstract

The present invention is applicable to the field of improvement of running trajectory technology, and provides a cosine interpolation method for an industrial robot running in a straight line in space, including: S1, determining the transition scheme according to the position of the target point and the parameter setting requirements of the robot, and performing a process on the entire trajectory Segmentation processing; S2, using the cosine curve combined with the initial speed, end speed, acceleration and deceleration set for each segment that the entire trajectory is divided into to preliminarily plan the time of the acceleration segment, constant speed segment and deceleration segment; S3, The interpolation points are calculated by using the time of each segment planned in step S2, and the time of the constant speed segment is recalculated according to the corresponding speed and distance equation. The cosine curve interpolation method is used to interpolate each segment of the trajectory, not only the acceleration distributed in each interval becomes smooth, but also the jerk changes smoothly.

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 Patents(China)
IPC IPC(8): G05B19/41
CPCG05B19/41G05B2219/34083
Inventor 马崟
Owner SHENZHEN COLIBRI TECH
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