Pose-synchronous six-axis industrial robot track smoothing method

An industrial robot and trajectory technology, applied in the direction of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of position and attitude geometric shape change, trajectory shape change, unconstrained position and attitude transition error, etc., to improve work efficiency and Mass, avoiding pauses and vibrations, avoiding changing effects

Active Publication Date: 2020-03-24
GUANGDONG SAMSUN TECH CO LTD
View PDF13 Cites 19 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 attit

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Pose-synchronous six-axis industrial robot track smoothing method
  • Pose-synchronous six-axis industrial robot track smoothing method
  • Pose-synchronous six-axis industrial robot track smoothing method

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0040] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and examples of implementation. It should be understood that the specific implementation cases described here are only used to explain the present invention, and are not intended to limit the present invention.

[0041] The present invention is a method for smoothing the trajectory of a six-axis industrial robot with synchronous position and posture, wherein the position trajectory adopts circular arc transition, the attitude trajectory adopts quaternion B-spline transition, and the calculation of the transition trajectory mainly includes two steps: calculating the transition parameters and constructing the transition trajectory. The main steps.

[0042] Step 1. Determine the transition parameters of each position point and attitude point according to transition erro...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 颜昌亚何姗姗唐小琦李振瀚周向东卢少武张庆祥曾祥兵谭辉周少峰马国龙
Owner GUANGDONG SAMSUN TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap