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A Hybrid Space-Based Transition Trajectory Planning Method for Industrial Robots

A trajectory planning, robotics technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as inability to transition smoothly

Active Publication Date: 2021-06-25
NANJING ESTUN AUTOMATION CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to avoid the defects of the conventional Cartesian space trajectory transition method and ensure the smooth transition between the singular segment motion path and the conventional segment motion path, the present invention uses the mixed space vector [x, y, z, θ of Cartesian space plus joint space 4 ,θ 5 ,θ 6 ] describes the method to plan the transition trajectory of the robot, and solves the situation that there is a singular area of ​​the wrist in the robot's motion path that cannot transition smoothly

Method used

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  • A Hybrid Space-Based Transition Trajectory Planning Method for Industrial Robots
  • A Hybrid Space-Based Transition Trajectory Planning Method for Industrial Robots
  • A Hybrid Space-Based Transition Trajectory Planning Method for Industrial Robots

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Embodiment

[0055] The specific implementation steps of the present invention are described below by taking the planning of two motion trajectories of a general six-joint robot as an example:

[0056] (1) Obtain motion parameters related to transition trajectory planning:

[0057] Teaching to get the starting point P of the first motion track 0 Pose data, end point P 1 Pose data, end point P of the second trajectory 2 The pose data are shown in the table below. Transition parameter a=0.8. Among them, P 0 P 1 is a singular segment motion path, and there is a singular area of ​​the wrist in the motion path, P 1 P 2 is a general segment motion path.

[0058] point Cartesian space description joint space description P 0

[600,-350,680,-100,160,100] [27.87,-15.54,54.62,-153.86,-47.63,170.63] P 1

[450,-350,680,60,50,-120] [44.52,-18.03,68.39,-109.47,128.13,188.25] P 2

[450,-500,680,70,60,80] [53.50,-5.87,57.79,-84.64,133.5,234.84]

[0059] (2...

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Abstract

The invention discloses a transition trajectory planning method of an industrial robot based on a mixed space, which uses a mixed space vector description method of Cartesian space plus joint space to plan the transition trajectory of the robot, and can realize the transition between the singular segment motion path and the conventional segment motion path transition trajectory planning. The transition trajectory of the robot in the singular region is planned by the hybrid space planning method, and the Jacobian matrix connects the velocity and acceleration vectors of the hybrid space and the Cartesian space at the transition point of the trajectory, so that the trajectory of the robot end is smoothly transitioned, avoiding the conventional Cartesian The space transition trajectory planning method will have an impact on the robot body.

Description

technical field [0001] The invention relates to a transition trajectory planning method for an industrial robot, in particular to a hybrid space-based transition trajectory planning method for an industrial robot. Background technique [0002] In many practical applications of robots, in order to improve the work efficiency of the robot, it is usually necessary to perform path transition between adjacent motion trajectories, and to ensure that the speed and acceleration between adjacent motion trajectories can be smoothly transitioned. Therefore, the transition trajectory planning of robots is the focus of research in trajectory planning. [0003] The trajectory transition of the robot includes Cartesian space trajectory transition and joint space trajectory transition. There is no singular area in joint space trajectory transition, so joint positions can be directly smoothed. At present, there have been some research results on the trajectory transition of robots in Carte...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 夏颖夏正仙冯日月潘婷婷
Owner NANJING ESTUN AUTOMATION CO LTD
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