A robot trajectory planning method for dynamic slag removal in ingot casting process
A technology of trajectory planning and robotics, applied in the field of robotics, to achieve the effect of solving the problem of target tracking trajectory planning
Active Publication Date: 2021-11-26
CENT SOUTH UNIV
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[0004] The purpose of the present invention is to address the problem of robot dynamic target tracking, propose a robot trajectory planning method for dynamic slag removal in the ingot casting process, and realize the trajectory planning task by combining visual servo technology and trajectory planning technology
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[0074] The present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
[0075] The present invention is based on the following principle: the advantage of polynomial interpolation is that it can simply and quickly fit a smooth and smooth motion track, and the higher the polynomial order is, the smoother and smoother the planned motion track is, but the corresponding calculation amount is also greater. At the same time, a polynomial with too high order is prone to the Runge phenomenon, resulting in a large error in the position of the end of the manipulator. Therefore, it is generally not suitable to use a polynomial with a degree of more than seven.
[0076]The application scenario of this embodiment is as follows figure 2 As shown, it includes a six-degree-of-freedom robot body fixed on the base, a slag scraper movably connected to the robot body, a camera installed on the end effector...
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The invention discloses a robot track planning method for dynamic slag removal in the ingot casting process. First, the position and velocity of the casting mold in the task space are obtained according to the image; then the search interval of the execution time of the motion trajectory is determined by the running time of the trajectory planning algorithm and the initial joint angular velocity of the industrial robot; the running time and trajectory of the trajectory planning algorithm are used The execution time of the robot is used to calculate the position when the robot tracks the mold; then the quintic polynomial interpolation method is used to plan the joint space trajectory; finally, the bisection method is used to obtain the execution time of the minimum motion trajectory that satisfies the physical constraints of the robot joint space in the search interval, namely The time-optimized track for tracking the movement of the upper mold is obtained, and then the slag removal operation is completed while tracking the movement of the mold. The invention predicts the position of the dynamic target object through the visual information, and then plans the trajectory of the robot, solves the problem of optimal time for the dynamic target tracking trajectory planning of the robot, and realizes the dynamic slag removal operation.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a robot trajectory planning method for dynamic slag removal in the ingot casting process. Background technique [0002] Non-ferrous metals (aluminum, copper, lead, zinc, etc.) are an important basic guarantee for national economic construction and national defense industry, and affect all aspects of national development. However, although my country is a big country in non-ferrous metallurgy production, it is not a strong country in non-ferrous metallurgy production. When the molten liquid metal is injected into the mold and during the subsequent transportation process, the surface of the high-temperature liquid metal in contact with the air will be continuously oxidized to form solid oxide slag suspended on the liquid surface. In order to ensure that the surface quality of metal ingots after cooling and forming is improved, the "slag removal" treatment to remove these oxide slag...
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IPC IPC(8): B25J9/16
CPCB22D7/12B22D43/005B22D46/00
Inventor 徐德刚雷逸凡洪松涛苏志芳阳春华桂卫华
Owner CENT SOUTH UNIV