Method for optimizing working posture of industrial robot

Abstract

The invention discloses a method for optimizing the working posture of an industrial robot. The method includes the following steps: establishing a rigidity model in the Cartesian space of the industrial robot; evaluating the directional rigidity of joints of the industrial robot according to the working task type; determining the characteristic points of a robot working task according to the working task type, and through the redundant degree of freedom in the axial direction of a tool of an industrial robot operating system, completing posture optimization of the characteristic points with the optimal directional rigidity performance as an optimization goal; and acquiring the optimal rigidity posture of all the characteristic points, and completing posture optimization of other target points or trajectory difference compensation positions through smoothing processing. By means of the method, selection of the optimal rigidity posture of the whole working task is achieved, rapid optimization of the robot working posture in the complex working task and improvement of the processing performance are achieved, and the technical requirements of the robot in high-precision manufacturingand processing fields such as hole making and milling are met.

Description

technical field [0001] The invention belongs to the technical field of posture optimization of industrial robots, and in particular relates to a method for optimizing the posture of an industrial robot. Background technique [0002] Affected by the inherent characteristics of its series structure, industrial robots have low operating rigidity and positioning accuracy, which seriously restricts their popularization and application in the manufacture of high value-added products. Among them, the factors affecting the rigidity performance of the robot mainly include the following three aspects: 1) the structural design of the robot body and the properties of the materials used; 2) the stiffness of the driving mechanism and the transmission mechanism; 3) the working attitude of the robot. Robot attitude optimization technology has the advantages of high feasibility, good task adaptability, and no need to change the robot structure and control system. It has extremely high applic...

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Problems solved by technology

[0004] (1) The positioning of the robot's motion trajectory is optimized for the attitude optimization of the optimal operating performance index, and the application test is mainly carried out for a small number of discretely distributed points. However, in actual production, such as the manufacturing process of aerospace parts, among them Any part has a large number of hole-making requirements. If the operation posture corresponding to each target processing position is optimized one by one in the processing task, the workload of optimization processing will be very large and the efficiency will be low.

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