Operation control method and control system for determining trajectory of robot

Abstract

The invention discloses an operation control method and system for determining a trajectory of a robot. The method comprises the following steps that a manual operation control handle is used for simultaneously controlling action of each shaft of the multi-shaft robot, and transition points and target points are set in the operation trajectory of the multi-shaft robot, wherein the transition points are the positions where the multi-shaft robot needs to pass in the operation trajectory; the target points are the positions where the multi-shaft robot executes tasks; control information of the manual operation control handle is collected when the manual operation control handle controls each shaft of the multi-shaft robot to act, wherein the control information involves an operation pulse, adirection, target point position information and transition point position information; coordinate information of the transition points and the target points is obtained according to the control information; and the optimal operation trajectory of the multi-shaft robot is calculated according to the coordinate information of the transition points and the target points so as to enable the multi-shaft robot to operate according to the optimized trajectory. The invention further comprises the operation control system for determining the trajectory of the robot. The method and the system are simple in calculation, free of programming, high in stability and low in hysteresis.

Description

technical field [0001] The invention relates to the field of multi-axis robot control, in particular to an operation control method and system for determining robot trajectory. Background technique [0002] Multi-axis robots are typical manufacturing equipment in the field of industrial automation. Multi-axis robots are usually four to six-axis robots that can perform tasks such as handling, palletizing, welding, spraying, and assembly. A multi-axis robot usually includes an "arm" and a "wrist" joint. Multiple rotatable axes are arranged at the arm and wrist joints, and the rotation of each axis is controlled by a motor, thereby forming a multi-axis robot. [0003] The existing input trajectory operation mode of multi-axis robots mainly has the following defects: (1) The required trajectory is usually set by writing the operation program, which requires high professional skills of the operator and is not efficient , it is more difficult to popularize. (2) The robot arm (us...

AI Technical Summary

Problems solved by technology

[0003]The existing multi-axis robot input trajectory operation method mainly has the following defects: (1) The required trajectory is usually set by writing the operation program, which This method has high requirements on the professional skills of operators, is not efficient, and is difficult to popularize

(2) The robot arm (usually on a collaborative robot) can be directly moved by hand to make the multi-axis robot reach the target position to perform tasks and determine the running trajectory; however, due to the heavy weight of the multi-axis robot itself, relatively large forces are required It can only be moved, which makes it difficult to get to the exact position and low work efficiency

(3) Existing techniques for calculating the trajectory of the robot through various decompositions; such as CN107214702A discloses a planning method and system for determining the trajectory of the robot using a virtual reality handle. Complementary way to obtain the running trajectory of the robot, this method will make the calculation complex, and the entire stability and smoothness in the operation process need to be considered; the robot trajectory planning method is to preprocess the detected control information by the controller and then The signal sent to the servo driver, that is, the signal generated by the virtual reality handle needs to be pre-processed before controlling the servo driver of the robot. large hysteresis

(4) The technology of controlling the robot by scanning the posture changes of the human body through the camera, which is technically difficult, high cost, low precision, and has a large lag

(5) Using the attitude sensor tied to the arm to control the robot is difficult, with low precision, poor reliability, and large hysteresis

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