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Trajectory planning method

A trajectory planning, trajectory technology, applied in the direction of instruments, digital control, control/regulation systems, etc., can solve problems such as uneven Cartesian space trajectory

Inactive Publication Date: 2019-10-08
WEIHAI PRINTING MACHINERY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

After many studies, a trajectory planning method for parallel robots was obtained, which can solve the problem of unsmooth Cartesian space trajectories of existing Delta parallel robots during high-speed operations

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] Embodiment 1 Pick-and-place operation trajectory (Pick-and-place operation trajectory)

[0043] Such as figure 1 As shown, the pick-and-place operation trajectory is the curve ABCDEFG, the horizontal movement distance |AG|=w, the vertical movement distance |AH|=|GI|=h, |AB|=|GF|=n, |BH|= |FI|=l, |HC|=|EI|=k. Curve BC replaces the right-angled transition part formed by BH and HC, and curve EF replaces the right-angled transition part formed by EI and IF.

Embodiment 2

[0044] Embodiment 2 Trajectory Planning Method Based on PH Curve

[0045] 1. The trajectory planning method based on the PH curve means that in the pick-and-place operation trajectory of the embodiment 1, the curves BC and EF both adopt the PH curve.

[0046] The transition part of the pick-and-place operation track in this embodiment adopts a 3-order pH curve. The 3rd PH curve is:

[0047]

[0048] The result is as figure 2 shown. in, figure 2 is the transition part BC in the pick-and-place operation track, using the PH curve, Li is the side length of the polygon controlled by the PH curve, i=0; 1; 2, θ1 and θ2 represent P 1 P 2 to P 1 P 0 and P 2 P 3 to P 2 P 1 The counterclockwise rotation angle, then the necessary and sufficient conditions for P(τ) to be a 3-degree PH curve are:

[0049]

[0050] and

[0051] θ1 = θ 2 (5)

[0052] The following conclusions can be drawn from the properties of the 3 PH curves:

[0053] (1) The parametric expression o...

Embodiment 3

[0130] Embodiment 3 The trajectory planning method based on the arc transition of the modified trapezoid

[0131] This embodiment adopts the trajectory planning method based on the arc transition based on the modified trapezoidal motion law in "Zhang Xiang. Research on Control Method of High-speed Lightweight Parallel Manipulator [D]. Tianjin: Tianjin University, 2005."

[0132] The acceleration formula for correcting the law of trapezoidal acceleration and deceleration is as follows:

[0133]

[0134] In this trajectory planning method, the robot adopts the modified trapezoidal motion law in both the horizontal direction and the vertical direction of the pick-and-place operation trajectory. Let T 1 for figure 1 Time from point A to point C in the curve, T 2 for figure 1 The time from point B to point F in the curve, T 3 for figure 1 The time from point E to point G in the curve. There are the following two situations:

[0135] (1) When h≤w, then when t=0, the vertic...

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Abstract

The invention discloses a trajectory planning method. The trajectory planning method firstly uses a right angle transition part between a smooth vertical motion and a horizontal motion of a PH curve in Cartesian space to determine a motion trajectory; a polynomial motion law is then used to plan a one-dimensional curve displacement of the trajectory, and the position of a motion trajectory interpolation point is determined; and finally, PH curve parameters are optimized with the minimum pick-and-place operation cycle as a target, and through deduction, the optimization method is proved to obtain the minimum curvature difference under the PH curve. The invention also discloses application of a parallel robot trajectory planning method to a Delta robot system. the pick-and-place operation ofthe trajectory planning method has a short motion cycle, and the trajectory is smooth and has smooth motion characteristics. The Delta robot of the present invention can perform grasping operation ata speed of 90 times / minute, thereby realizing high-speed operation of the parallel robots.

Description

technical field [0001] The invention relates to the technical field of parallel robots, in particular to a trajectory planning method. Background technique [0002] The Delta robot is one of the most successful parallel mechanisms. It is a high-speed, light-loaded parallel robot, usually with 3 to 4 degrees of freedom. The Delta robot has the advantages of fast speed, precise positioning, low cost, and high efficiency. It is widely used in the assembly line of food, medicine, and electronic products to complete large-volume, repetitive, and fast sorting and grabbing. , assembly and other operations, and the current control system of high-speed and high-precision Delta parallel robots mainly relies on foreign technology, so the study of Delta robots is of great significance to the improvement of my country's equipment manufacturing industry. [0003] Scholars at home and abroad have conducted extensive and in-depth research on how to improve the motion accuracy and stability...

Claims

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35338
Inventor 谷永辉朱晓熙
Owner WEIHAI PRINTING MACHINERY
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