Cartesian space trajectory transition method of industrial robot

A Cartesian space, technology of industrial robots, applied in the field of robotics

Active Publication Date: 2020-10-20
GUANGDONG TOPSTAR TECH +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are few studies on robot trajectory transition technology, mainly studying the transition between straight line segments and straight line segments in Cartesian space. There is a lack of research on the trajectory type, joint space transition type, and speed planning after transition in Cartesian space.

Method used

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  • Cartesian space trajectory transition method of industrial robot
  • Cartesian space trajectory transition method of industrial robot
  • Cartesian space trajectory transition method of industrial robot

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Embodiment Construction

[0046] The present invention will be further described below in conjunction with accompanying drawing:

[0047] The present invention first designs the Cartesian space pose transition method based on spline programming to solve the problem of G1 discontinuity; then analyzes two special cases that are not suitable for directly adding splines: the continuous motion segment due to different tool coordinate systems G0 continuity is not satisfied, and the calculation of adding transition sections is complicated due to continuous small line segments. In order to ensure the G1 continuity of the transition trajectory at the end of the industrial robot, circular arcs, Bezier splines, B-splines, and Ferguson splines are often used as transition curves. Because the Bezier spline is easy to control the tangent direction, and the calculation speed is fast.

[0048] Pose transition method of different motion types based on Bessel spline:

[0049] In Cartesian space, since the coordinates ...

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Abstract

The invention discloses a Cartesian space trajectory transition method of an industrial robot. The method comprises transition of different motion type poses of Bezier splines, transition of differenttool coordinate system poses of motion segments and transition of continuous small segment poses of parabolic splines. The method is used as pose transition basis, the structure based on the Bezier splines is expounded, and transition of different motion types in a position space and quaternion transition of a pose space are contained. Aiming at the problem that transition curves can not be constructed for different tool coordinate systems in adjacent motion segments, the smooth transition algorithm of different tool coordinate systems in continuous motion segments is studied; aiming at the problem of complex computation of transition of continuous small segments, a continuous small motion segment trajectory transition method based on the parabolic splines is proposed, and includes a construction method and an optimization method; and finally, based on a simulation platform, it is verified that the final trajectory after transition treatment can meet the G1 continuity, the smoothnessof motion is improved, and the value of popularization and application is obtained.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a Cartesian space trajectory transition method for an industrial robot. Background technique [0002] With the continuous expansion of the application field of industrial robots, people put forward many new requirements for the control technology of robots. Trajectory planning is the difficulty and focus of industrial robot control technology research, which has a great impact on the robot's operating performance. Among them, the accuracy and smoothness of industrial robot trajectory planning are particularly important. Robot trajectory transition can improve the smoothness of trajectory motion and improve operating efficiency and precision, so it is very critical for the smooth transition control of robot trajectory planning. [0003] Through the robot trajectory transition technology, the smoothness of the robot's trajectory and the continuity of the pose can be improved, the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/02
CPCB25J9/023B25J9/1664
Inventor 宋宝周向东唐小琦尹超刘永兴王国栋赵磊
Owner GUANGDONG TOPSTAR TECH
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