Robot path searching method, system and device and storage medium

Abstract

The invention discloses a robot path searching method, system and device and a storage medium. The method comprises the steps that a robot is controlled to obtain n coordinate points on a first planeof a workpiece by combining an initial coordinate point and a first preset coordinate point, and a first plane equation of the first plane is obtained according to the obtained coordinate points; therobot is controlled to obtain n coordinate points on a second plane of the workpiece by combining the initial coordinate point and a second preset coordinate point, and a second plane equation of thesecond plane is obtained according to the obtained coordinate points; and a machining path of the robot is obtained by combining the first plane equation and the second plane equation. According to the robot path searching method, system and device and the storage medium, the machining path of the robot is directly obtained by adopting the two plane equations, the situation that the offset of theworkpiece is obtained in an offset searching method, then the machining path is calculated based on the offset is avoided, the steps of robot teaching and searching are greatly simplified, the workingefficiency of the robot is improved, and the robot path searching method, system and device and the storage medium can be widely applied to the field of robot path planning.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to a robot path search method, system, device and storage medium. Background technique [0002] In the production and processing application of industrial robots, before batch processing of workpieces, the robot will teach the workpiece; when batch processing of workpieces, there are position offsets and errors between the processed workpiece and the position of the workpiece during teaching. In order to solve the above problems, the existing technical method is to confirm the actual working path by comparing the initial teaching point, searching and calculating the parallel and rotational offset of the working object. [0003] In the technology of searching the working path, the offset search is mainly used now. Although the offset search has a careful offset calculation method and a point-position superposition method, it also has great disadvantages. That is, the touch point n...

AI Technical Summary

Problems solved by technology

[0003] In the technology of searching the working path, the offset search is mainly used now. Although the offset search has a careful offset calculation method and a point superposition method, there are also great disadvantages.

That is, the touch point needs to be taught in strict accordance with a specific direction, and the teaching steps are cumbersome

In addition, for the L-shaped work object, it is required to be vertical on both sides in the offset search method, which reduces the applicability of the search method

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