A method, system, device and storage medium for generating trajectory of an industrial robot
An industrial robot and trajectory generation technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of uneven processing trajectory, affecting processing speed, noise points, and even error points, so as to improve processing speed and processing Quality, effect of robot trajectory smoothing
Active Publication Date: 2021-08-03
中正数据技术有限公司
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Problems solved by technology
Affected by various factors such as the surface roughness of the object, the position of the light source, the material color of the object to be scanned, and the vibration of the console, the scanned model will inevitably generate noise, resulting in noise points or even error points in the discrete data extracted from the model. If the discrete data is directly used to generate the robot processing trajectory, the processing trajectory will not be smooth, and the end of the robot will shake, which will greatly affect the processing speed and cause the processing quality to be substandard.
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[0096] refer to Figure 3-Figure 5 , the above method will be described in detail below in conjunction with specific embodiments of the sole gluing track of an industrial robot.
[0097] refer to Figure 5 , Step 1: Filter the robot trajectory data points to be generated.
[0098] Wherein, Step 1 includes S101~S101:
[0099] Step S101 removes the wrong points in the original data: three adjacent data points P i-1 , P i , P i+1 , find ∠P i-1 P i P i+1 angle, if ∠P i-1 P i P i+1 i is the noise point, the point P i remove;
[0100] Step S101 is to the ∠P obtained in step S101 i-1 P i P i+1 To judge, if ∠P i-1 P i P i+1 >90°, the point P is considered i The data is normal data, and the data will not be processed;
[0101]Step S101: If ∠P i-1 P i P i+1 i-1 P i |, |P i P i+1 The length of |, if |P i-1 P i |=|P i P i+1 |, then the line segment P i-1 P i+1 Take a point P, so that P satisfies: P=(P i-1 +P i+1 ) / 2, instead of point P i ; if |P i-1 P ...
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The invention discloses a method, system and storage medium for generating an industrial robot trajectory, wherein the method includes the following steps: obtaining the original data of the robot trajectory to be generated, and obtaining a plurality of data points after filtering the original data; obtaining each data point The discrete curvature is obtained by combining the discrete curvature and data points to obtain a fitting curve; the error between the fitting curve and the data points is calculated, and when the error is less than the preset tolerance, the trajectory of the industrial robot is generated according to the fitting curve. The invention eliminates the noise points and error points in the original data, and then combines the discrete curvature to obtain the fitting curve, and finally generates the trajectory of the industrial robot according to the fitting curve, so that the trajectory of the robot is smoother, and the processing speed and quality are improved. It is widely used in the field of robot path planning.
Description
technical field [0001] The present invention relates to the field of robot path planning, in particular to an industrial robot trajectory generation method, system and storage medium. Background technique [0002] At present, the application of robots in the field of industrial generative manufacturing is becoming more and more extensive, and the combination of robots and 3D camera scanners is becoming more and more common. Affected by various factors such as the surface roughness of the object, the position of the light source, the material color of the object to be scanned, and the vibration of the console, the scanned model will inevitably generate noise, resulting in noise points or even error points in the discrete data extracted from the model. If the discrete data is directly used to generate the robot processing trajectory, the processing trajectory will not be smooth, and the end of the robot will shake, which will greatly affect the processing speed and cause the p...
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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 张见双高燕庄健培李雪锋钟乐华邓颂坤徐建伟
Owner 中正数据技术有限公司