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Glue dispenser motion planning method and system based on trajectory look-ahead

A technology of motion planning and dispensing machine, which is applied to the device and coating of surface coating liquid, which can solve the problems of poor dispensing quality and achieve continuity, improve poor dispensing quality and smooth transition Effect

Active Publication Date: 2021-03-26
SHENZHEN HUACHENG IND CONTROL
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AI Technical Summary

Problems solved by technology

[0005] In order to improve the problem of poor dispensing quality, this application provides a trajectory-forward-based dispensing machine motion planning method, system and readable storage medium

Method used

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  • Glue dispenser motion planning method and system based on trajectory look-ahead
  • Glue dispenser motion planning method and system based on trajectory look-ahead
  • Glue dispenser motion planning method and system based on trajectory look-ahead

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Experimental program
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Effect test

Embodiment approach

[0074] refer to figure 2 and image 3 , as an implementation of smooth transition segment information acquisition 101, including the following steps:

[0075] 1011. Obtain the current position point P of the dispenser 0 , the target point trajectory, the next trajectory after the target point trajectory, and the smoothness SL between the target point trajectory and the next trajectory.

[0076] Among them, when teaching the dispensing robot, the length of each dispensing track has been set, so the dispensing robot points P according to its current position. 0 , which can obtain the target point trajectory and the next trajectory.

[0077] 1012. Determine the type of target point trajectory, if the target point trajectory is an arc, then the target point is P 11 and P 12 , if the trajectory of the target point is a straight line, then the target point is P 1 .

[0078] Among them, P 11 is the target point trajectory, that is, the midpoint of the arc, P 12 is the targe...

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Abstract

The invention relates to a glue dispenser motion planning method and system based on trajectory look-ahead, and belongs to the technical field of automatic control. The motion planning method comprises smooth transition section information acquisition, transition arc curve acquisition, transition arc curve maximum speed acquisition, motion speed planning and motion trajectory switching; and the motion planning system comprises a smooth transition section information acquisition module, a transition arc curve acquisition module, a transition arc curve maximum speed acquisition module, a motionspeed planning module and a motion trajectory switching module. Compared with the prior art, the method and system have the effect of solving the problem of poor dispensing quality.

Description

technical field [0001] The present application relates to the field of automatic control technology, in particular to a trajectory-forward-based motion planning method and system for a dispenser. Background technique [0002] Industrial automation is the trend of widely using automatic control and automatic adjustment devices in industrial production to replace manual manipulation of machines and machine systems for processing and production. Under the conditions of industrial production automation, people only indirectly take care of and supervise the production of machines. Industrial automation, according to its development stage, can be divided into: semi-automation, that is, part of the use of automatic control and automatic devices, while the other part is produced by manual operation machines; full automation, refers to all processes in the production process, including loading and unloading , loading and unloading, etc., do not require people to directly perform pro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B05C5/02B05C11/10
CPCB05C5/02B05C11/1021
Inventor 苗立晓程国醒石建军范玉魁唐亮
Owner SHENZHEN HUACHENG IND CONTROL
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