Pose-synchronous six-axis industrial robot track smoothing method

Abstract

The invention discloses a pose-synchronous six-axis industrial robot track smoothing method, which adopts an arc curve to transit a position track and adopts a quaternion B spline to transit an attitude track. The position and attitude tracks after transition have high-order continuity, transition errors of the position and attitude can be restrained at the same time, and the position and attitudetracks after transition have parameter synchronism. The method comprises the following two steps: step 1, determining transition parameters according to a transition error threshold value, a continuity condition and a pose synchronization condition of the position and attitude; 2, calculating transition tracks of the position and the attitude respectively according to the transition parameters; according to the smoothing method provided by the invention, the smooth and precision-controllable six-axis robot track can be generated, so that the operation efficiency and precision of the six-axisrobot are improved.

Description

technical field [0001] The invention belongs to the technical field of automatic control of industrial robots, and in particular relates to a track smoothing method for a six-axis industrial robot with synchronous position and posture. Background technique [0002] Six-axis industrial robots are widely used in complex applications such as laser cutting, welding, and spraying. Most complex robot trajectories are composed of linear trajectories and arc trajectories generated by off-line programming software. At each trajectory point, the pose (position and attitude) of the linear trajectory does not have the continuity of velocity and acceleration, which causes problems such as pause, vibration and trajectory error during the execution of the robot. [0003] In order to solve the discontinuous problem of the linear trajectory, the corner transition method is mostly used in the robot control system at present. In the corner transition research of the existing position traject...

AI Technical Summary

Problems solved by technology

However, there are two main problems in the existing research: one is that the transition error of the position trajectory and the attitude trajectory cannot be constrained at the same time; the other is that there is no synchronization of the parameters of the position and attitude, which leads to the geometric shape of the position and attitude changing with the change of the speed

However, none of the above transition methods can constrain the transition error of position and attitude, and the shape of the trajectory changes with the change of velocity.

Images