Robot path planning effectiveness detection method, detection device and computer readable storage medium
A technology of path planning and detection methods, applied in the direction of auxiliary devices, manipulators, program-controlled manipulators, etc.
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Method used
Image
Examples
Embodiment 1
[0076] The invention of this application provides a detection method for the effectiveness of robot path planning, which is applied in the field of robot motion control. In practical applications, welding and other operations are performed by the robotic arm of the robot holding the welding torch, so in this embodiment, the movement of the welding torch The track is also the motion track of the mechanical arm of the robot. see Figure 1 to Figure 7 The method for detecting the effectiveness of robot path planning described in this embodiment comprises the following steps:
[0077] S10. Calculate the movement path of the mechanical arm.
[0078] In this embodiment, the robot arm holds the welding torch as an example for illustration, and specifically includes the following steps:
[0079] S101, importing the workpiece and welding torch posture into the simulation system;
[0080] S102. The trajectory point set of welding at the end of the welding torch is given from the simu...
Embodiment 2
[0117] The embodiment of the application of the present invention provides a detection device for the validity of robot path planning. It can quickly and efficiently verify the validity of the planned motion path, so as to provide a stable core support for the precise motion path of the robotic arm during welding, which is simple and fast.
[0118] see Figure 8 as well as Figure 9 The detection device for the validity of robot path planning described in the embodiment of the present application includes a motion path calculation module 301, a joint reconstruction module 302, an eigenvalue optimization module 303, a matrix reconstruction module 304, and a path validity judgment module 305.
[0119] Wherein, the movement path calculation module 301 is used to calculate the movement path of the welding torch;
[0120] The motion path calculation module 301 includes a workpiece import unit 3011, a trajectory point set acquisition unit 3012, an inverse solution acquisition unit...
Embodiment 3
[0154] According to an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the method for detecting the validity of the robot path planning above are implemented, and the specific steps are as follows It has been described in Embodiment 1, and will not be repeated here.
[0155]The memory in this embodiment can be used to store software programs and various data. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or...
PUM
Login to View More Abstract
Description
Claims
Application Information
Login to View More