A method for robot to return to initial position at any position at any position

A technology of initial position and arbitrary position, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low equipment efficiency and manual error-prone, and achieve the effect of avoiding manual operation errors and ensuring portability

Active Publication Date: 2022-03-01
SICHUAN CHANGHONG ELECTRIC CO LTD
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AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a method for the robot to return to the initial position at any position at any position, which is used to solve the problems in the prior art of manually moving the device back to the starting area, resulting in low equipment efficiency and manual error-prone problems

Method used

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  • A method for robot to return to initial position at any position at any position
  • A method for robot to return to initial position at any position at any position
  • A method for robot to return to initial position at any position at any position

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Embodiment 1

[0030] A method for a robot to return to an initial position at any position at any position, comprising:

[0031] 1. Planning key points and paths:

[0032] 1) Equipment running path, as attached Figure 4 , according to the reverse order of the path, formulate the path for the device to return to the initial position;

[0033] 2) Analyze the layout of peripheral equipment and list the existence of all equipment, as attached figure 1 ;

[0034] 3) According to the interference of peripheral equipment, set a first-level key point in the nearest non-interference area close to each equipment, as shown in the attached figure 2 , and make the path of returning to the initial position of the equipment formulated according to the reverse order of the operating path of the equipment in 1) coincide with the first-level key point, forming a safe return to the initial position path passing through the first-level key point;

[0035] 4) Take the first-level key point as the center, ...

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Abstract

The invention discloses a method for a robot to return to an initial position at any position at any position, comprising: obtaining parameter information; formulating a safe return to the initial position path according to the parameter information and the reverse order of the processing sequence; situation, set a first-level key point in the nearest non-interference area close to each device, so that the safe return to the initial position path passes through the first-level key point; divide the area with the first-level key point as the center, and cover the area of ​​the nearest device Plan multiple second-level key points in the interior, and no collision will occur when the device returns to the second-level key point anywhere in the area; the robot returns from the second-level key point to the first-level key point, and finally returns to the initial position from the first-level key point. The present invention can realize reset and start of the equipment at any attitude position without manually moving the multi-axis mechanical system, and has the characteristics of high efficiency, stability and reliability.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular, it is a method for a robot to return to an initial position at any position at any position. Background technique [0002] At present, the use of industrial robots and multi-axis mechanical systems is constantly increasing, and they are one of the core equipment for automation and intelligence. Due to the complex environment in the field, it is necessary to manually move the equipment every time it is powered on to bring the equipment back to the starting area. to start normally. For the use of equipment, the efficiency is low, and manual errors are prone to occur, which is not conducive to the troubleshooting of on-site operators and the simple start-up of the first boot, which prolongs the time for equipment startup and recovery consumption. Contents of the invention [0003] The purpose of the present invention is to provide a method for the robot to return to the i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1679
Inventor 徐志超
Owner SICHUAN CHANGHONG ELECTRIC CO LTD
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