Multi-constraint robot milling attitude planning method and system based on potential field method

A robot and multi-constraint technology, applied in metal processing equipment, manipulators, milling machine equipment, etc., can solve problems such as less planning algorithms, and achieve the effect of improving processing quality, processing accuracy, and ensuring smoothness.

Active Publication Date: 2021-05-25
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

Relevant studies only apply the potential field method to robot obstacle avoidance and machine tool attitude planning. For the

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  • Multi-constraint robot milling attitude planning method and system based on potential field method
  • Multi-constraint robot milling attitude planning method and system based on potential field method
  • Multi-constraint robot milling attitude planning method and system based on potential field method

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[0068] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.

[0069] Such as figure 1 As shown, the present invention provides a multi-constraint robot milling attitude trajectory planning method based on the potential field method. Based on the kinematics and mechanics model of the robot, the corresponding constraint conditions are given, and the robot attitude trajectory planning model under a given tool path is established; then, in order to ensure tha...

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Abstract

The invention discloses a multi-constraint robot milling attitude planning method and system based on a potential field method, and belongs to the field of milling manufacturing. According to the method, the geometric physical constraint is converted into a virtual potential field, so that the constrained quantity is far away from a constraint boundary under the action of repulsive torque generated by the virtual potential field, and a generated attitude trajectory meets the geometric physical constraint. According to the method, the redundant angle of a robot and the front heeling angle of an end effector are comprehensively considered, and the machining quality is further improved. After the factor is considered, a generated trajectory is applied to milling, and the machining precision is obviously improved. The invention provides a new potential field function, a virtual kinetic equation is calculated through numerical integration to solve the attitude trajectory, and the obtained solution is a numerical value in a continuous domain, so that the robot trajectory always ensures that the joint movement C3 is continuous in the movement process, and the fairness of the generated attitude trajectory is ensured.

Description

technical field [0001] The invention belongs to the field of milling processing and manufacturing, and more specifically relates to a method and system for robot milling processing posture planning based on potential field method and multi-constraint. Background technique [0002] Industrial robots are widely used in various types of automated production due to their high flexibility, programmability, and competitive cost. Trajectory planning for different production task requirements has become a rigid requirement for robot operations. For robot milling, it has high requirements for machining trajectory accuracy and machining mechanics, which poses greater challenges compared to other tasks such as palletizing and handling; compared with traditional five-axis machining, robot milling has In addition to the inclination angle and the side inclination angle, there are also redundant angles that affect the mechanical properties of the machining, which is more difficult to plan....

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Application Information

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IPC IPC(8): B23C3/00B25J11/00B25J9/16
CPCB23C3/00B25J11/0055B25J9/1664
Inventor 彭芳瑜李泽鹏孙朝阳唐小卫闫蓉
Owner HUAZHONG UNIV OF SCI & TECH
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