A Cartesian Space Trajectory Transition Method for Industrial Robots
A Cartesian space, industrial robot technology, applied in the field of robotics, to achieve the effect of improving smoothness
Active Publication Date: 2021-06-01
GUANGDONG TOPSTAR TECH +1
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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.
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[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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The invention discloses a Cartesian space trajectory transition method for an industrial robot, which includes a Bessel spline transition method for different motion types, a motion segment transition method for different tool coordinate systems, and a parabolic spline continuous small line segment posture transition method. Transition method, as the basis of pose transition, the present invention describes the structure based on Bezier splines, which includes the transition of different motion types in position space and the quaternion transition of attitude space; then for the adjacent motion segment tool coordinate system Different from the problem that the transition curve cannot be constructed, the smooth transition algorithm of different tool coordinate systems in the continuous motion segment is studied; in view of the problem of complex calculations for the transition of continuous small line segments, a trajectory transition method based on parabolic splines for continuous small motion segments is proposed. And the optimization method; finally, based on the simulation platform, it is verified that the end trajectory after the transition process can meet the G1 continuity, which improves the smoothness of the motion, and has the value of popularization and application.
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 ...
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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