Workpiece tracking method, robot, workpiece tracking system, and storage device
A storage device and robot technology, applied in the directions of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems that the robot cannot follow the conveyor belt smoothly, the robot vibrates, etc., and achieve the effect of simple and easy mechanism and stable follow the conveyor belt.
Active Publication Date: 2022-04-29
BEIJING A&E TECH
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Problems solved by technology
[0003] In the prior art, during the movement of the robot following the conveyor belt, problems such as vibration may occur in the robot, resulting in the robot not being able to follow the conveyor belt smoothly
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[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0023] The technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. Not within the scope of protection required by this application.
[0024] When the robot is working along the conveyor...
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The application discloses a workpiece tracking method, a robot, a workpiece tracking system and a storage device. The tracking method includes: obtaining a trajectory list, obtaining the first trajectory of the robot in the first workpiece coordinate system from the trajectory list; interpolating the first trajectory; in response to the completion of the first trajectory interpolation, judging whether the trajectory list contains The second trajectory of the robot in the second workpiece coordinate system; in response to the inclusion of the second trajectory in the trajectory list, the current state value of the first workpiece coordinate system is obtained; the current state value is assigned to the second workpiece coordinate system to Enables the second workpiece coordinate system to move based on the current state value. Through the tracking method of the present application, the robot can smoothly follow the conveyor belt without vibration, and the reliability of workpiece tracking can be improved.
Description
technical field [0001] The present application relates to the technical field of robot intelligent control, in particular to a workpiece tracking method, a robot, a workpiece tracking system and a storage device. Background technique [0002] An application scenario of an industrial robot is to follow a conveyor belt to work on workpieces on the conveyor belt. At this time, the motion commands of the robot are all relative to the coordinate system of the workpiece moving along the conveyor belt, and the superimposed motion in the direction of the conveyor belt movement needs to be automatically processed by the control system, so that the robot can treat the moving workpiece on the conveyor belt like and The machining operation is carried out like a stationary workpiece. [0003] In the prior art, during the movement of the robot following the conveyor belt, problems such as vibration may occur in the robot, resulting in the inability of the robot to smoothly follow the con...
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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 叶根
Owner BEIJING A&E TECH