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High-quality motion path generating method of mechanical arm

A motion path and robotic arm technology, applied in the field of high-quality motion path generation of robotic arms, can solve problems such as the inability to meet robotic arms, and achieve the effects of satisfying actual work requirements, reducing errors, and making the process simple and clear.

Active Publication Date: 2020-08-11
DALIAN UNIV OF TECH
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Problems solved by technology

However, only 7 interpolation points are determined in this method, and there is still a large error between the interpolated working path and the ideal path, which cannot meet the needs of the actual work of the manipulator

Method used

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  • High-quality motion path generating method of mechanical arm
  • High-quality motion path generating method of mechanical arm
  • High-quality motion path generating method of mechanical arm

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Embodiment Construction

[0029] The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and technical solutions.

[0030] attached figure 2 It is a simplified structural diagram of the classic PUMA560 manipulator, and the connecting rod parameters of the manipulator determined by the DH parameter method are shown in Table 1.

[0031] Table 1

[0032]

[0033]

[0034] attached figure 1 It is a flowchart of a method for generating a high-quality motion path of a mechanical arm in the present invention, and the specific steps of the method are as follows:

[0035] Step 1, according to the formula (1) to construct as attached image 3 The ideal path of the manipulator shown is a planar path, l takes a value of 0.15, and the expression in polar coordinates is:

[0036] ρ=0.15(sin(7θ)+2)

[0037] According to the formula (2), the constructed planar geometric path is converted into the path of the manipulator works...

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Abstract

The invention belongs to the technical field of modern intelligent manufacturing, and relates to a high-quality motion path generating method of a mechanical arm in the field of industrial robots. According to the method, firstly, based on the negative index relation between the number of interpolating points and errors during quintic B-spline interpolation of the joint space path, the interpolation points are selected randomly two times, and errors between the corresponding interpolation result and the ideal path are calculated. The obtained interpolation result errors are taken as the basis,the median of the errors on the path is calculated, and the area with errors larger than the median on the path is taken as an interpolation point encryption area. Finally, quintic B-spline interpolation is used for the joint spatial dispersion angle value generated after encryption interpolation point zoning again, and a mechanical arm high-quality motion path with errors on the whole path smaller than expected errors is obtained. By means of the method, errors between the joint space path obtained through interpolation and the ideal path are effectively reduced, and the errors of the obtained high-quality motion path on the whole path are smaller than the expected errors.

Description

technical field [0001] The invention belongs to the technical field of modern intelligent manufacturing, and relates to a method for generating a high-quality motion path of a mechanical arm in the field of industrial robots. Background technique [0002] At present, an important development direction of industrial manipulators is to use task-level programming instead of manual teaching to generate manipulator workspace paths and perform subsequent speed planning. In task-level programming, the motion path of the manipulator usually exists in the form of discrete pose points (workspace path) and discrete angle values ​​(joint space path). In the process of using CAM software to generate the workspace path of the manipulator, the ideal workspace path can be calculated everywhere but has no specific mathematical expression. However, due to many algorithms of the manipulator, such as forward and inverse kinematics algorithms, path planning algorithms, etc., it is difficult to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 马建伟高松闫惠腾刘冬贾振元刘巍王福吉
Owner DALIAN UNIV OF TECH
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