Intelligent path planning device and method for industrial mechanical arm

Abstract

The invention relates to the field of industrial mechanical arms, in particular to an intelligent path planning device and method for an industrial mechanical arm. The device comprises a machined workpiece, a visual system, an intelligent control system, a mechanical arm and a workstation. The visual system comprises a visual module, an A / D converter and a rapid calibration module. The intelligent control system comprises an image learning module, a path planning module, a coordinate conversion module, an inverse kinematics module and a motor control module. The workstation module comprises a work server and a displayer. The mechanical arm module comprises a base, N joints, N motors matched with the joints and a machining device. The visual system is configured to collect surface information of the machined workpiece through the visual module, form point cloud from profile three-dimensional information of the machined workpiece through a three-dimensional visual technology and then form three-dimensional profile data. The intelligent control system is configured to control the action of the mechanical arm based on the information collected by the visual system. The work server is configured to be used for mechanical arm parameter adjustment, mechanical arm control platform software is arranged in the work server and used for controlling a mechanical platform, and the displayer is used for displaying controllable parameters. According to the industrial mechanical arm, the work automation and the machining efficiency and precision of an existing robot are improved, and the intelligence of mechanical arm path planning is achieved.

Description

technical field [0001] The invention relates to the field of industrial manipulators, in particular to an intelligent path planning device and method for an industrial manipulator. Background technique [0002] An industrial robotic arm is defined as "a manipulator whose manipulator is automatically controlled, reprogrammable, multipurpose, and can program more than 3 axes. It can be stationary or mobile. Used in industrial automation applications". The manipulator is also defined as "a machine whose mechanism is usually composed of a series of mutually articulated or relatively sliding components. It usually has several degrees of freedom for grasping or moving objects (tools or workpieces). Currently, Industrial manipulators are more and more widely used in the field of mechanical processing, especially in the automobile processing industry. At present, the path planning of industrial manipulators basically adopts manual debugging. The working steps are decomposed into ea...

AI Technical Summary

Problems solved by technology

However, the result of manual debugging is the reduction of industrial production efficiency and motion accuracy, and even the superposition of processing errors during the debugging process, resulting in defective products and waste products, which affect processing accuracy and efficiency.

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