A high-quality motion path generation method for a robotic arm

A motion path and robotic arm technology, which is applied in the field of high-quality motion path generation for robotic arms, and can solve problems such as inability to meet robotic arms.

Active Publication Date: 2021-08-20
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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  • A high-quality motion path generation method for a robotic arm
  • A high-quality motion path generation method for a robotic arm
  • A high-quality motion path generation method for a robotic 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 relates to a method for generating a high-quality motion path of a mechanical arm, which 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. In this method, based on the negative exponential relationship between the number of interpolation points and the error when interpolating the joint space path with B-splines of degree 5, the interpolation points are randomly selected twice, and the error between the corresponding interpolation result and the ideal path is calculated. Based on the obtained interpolation result error, the median of the error on the path is calculated, and the area on the path where the error is greater than the median is used as the interpolation point encryption area. Finally, five times of B-spline interpolation is used again for the discrete angle value of the joint space after the interpolation points are encrypted in the partition, and a high-quality motion path of the manipulator whose error on the entire path is less than the expected error is obtained. The invention effectively reduces the error between the joint space path obtained by interpolation and the ideal path, so that the error of the obtained high-quality motion path on the whole path is smaller than the expected error.

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 Patents(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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