Trajectory tracking and motion planning method of industrial robot
An industrial robot and trajectory tracking technology, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of insufficient path tracking accuracy of industrial robots, and achieve the effect of ensuring accuracy
Active Publication Date: 2019-09-03
ZHEJIANG SHUREN UNIV
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Problems solved by technology
[0005] Aiming at the deficiencies of the prior art, the present invention provides a trajectory tracking and motion planning method for an industrial robot, which has the advantage of being able to correct errors in the motion planning of the robot, thereby ensuring the accuracy of the walking trajectory at the end of the mechanical arm, and solving the problem of industrial robots tracking the lifting path. The problem of insufficient precision
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[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0022] The trajectory tracking and motion planning method of an industrial robot comprises the following steps:
[0023] S1: Predefine the motion trajectory of the joint end of the robot in mathematical form;
[0024] S2: Before use, set up a zero-point calibration mechanism composed of multiple laser interferometers, and install calibration blocks with standard dimensions at the joint ends of the robot;
[0025] S3: Move the calibration block to the zero point calibration mechanism, and record the initial coordinate value of the c...
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The invention relates to the technical field of industrial robots, and discloses a trajectory tracking and motion planning method of an industrial robot. The method comprises the following steps thatS1, motion track of a joint tail end of the robot is pre-defined and expressed in a mathematical form; S2, a zero point calibration mechanism composed of a plurality of laser interferometers is arranged before using, and a calibration block with a standard size is arranged at the joint end of the robot; S3, the calibration block is moved to the zero point calibration mechanism, and an initial value of a coordinate of the calibration block at the moment is recorded; S4, in the using process, the robot is set to re-install the calibration block after a certain period of time, and the calibrationblock is moved to the position of the initial valve of the coordinate, re-calibration is carried out by using the zero point calibration mechanism, and calibration block is compared with the initialvalue in the step S3 to obtain a difference value; and S5, the difference value obtained in the step S4 is substituted into the mathematical form of the step S1. According to the trajectory tracking and motion planning method of the industrial robot d, error correction can be carried out on a movement plan of the robot, so that the accuracy of a walking track at the tail end of a mechanical arm isensured.
Description
technical field [0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot trajectory tracking and motion planning method. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans or run according to pre-programmed programs. Modern industrial robots can also act according to the principles and programs formulated by artificial intelligence technology. According to the control function of the actuator movement, industrial robots can be divided into point-position type and continuous trajectory type. The point-position type only controls the accurate positioning of the actuator from one point to another, and is suitable for machine tool loading and unloading, spot welding, and gene...
Claims
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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 胡峰俊
Owner ZHEJIANG SHUREN UNIV