Method for completing unrepeatable covering task on object surface on assembly line by least lifting times through non-redundant mechanical arm

Abstract

The invention discloses a method for completing an unrepeatable covering task on an object surface on an assembly line by least lifting times through a non-redundant mechanical arm. The covering task is completed by using the non-redundant mechanical arm, contact between an end executor of the mechanical arm and a to-be-covered object is regarded as point contact, the to-be-covered object, a mechanical arm base and obstacles in the environment are known, the mechanical arm base is fixed, and the position relation of the obstacles in the environment relative to the mechanical arm base is known; and the to-be-covered object moves along a corresponding path and stays at a limited number of positions, the position relation of the limited number of positions relative to the mechanical arm base is known, and the known information is kept unchanged in the execution process of the covering task. For the surface covering task on the object which is placed on the assembly line, can stop at the limited number of positions and is processed, an existing solution for determining where each part of the object surface is covered is unavailable in the industrial circle, and the whole covering task can be optimal.

Description

technical field [0001] The present invention relates to the path planning technology of the manipulator, specifically, in the case that the object to be processed has a limited number of positions that can be processed, a non-redundant manipulator is used to lift the minimum number of times to complete the non-repeatable coverage of the surface of the object on the assembly line method of the task. Background technique [0002] The task of covering the surface of an object is a common task in industrial applications, and is widely used in close-range modeling, painting, polishing, etc. of the object surface. To meet the requirement of processing objects with general shapes in 3D space, the covering task is usually performed by a robotic arm. [0003] On the one hand, the kinematics of robotic arms is a hot topic that has been studied for decades. The essence of the kinematics of the manipulator is to find the mapping from the joint space composed of the joint angles of the...

AI Technical Summary

Problems solved by technology

The existing solutions in the industry are all for the coverage task of objects fixed at a certain position, and it is impossible to use additional movable equipment such as conveyor belts to achieve better coverage

For objects placed on the assembly line, where each part of the surface area is covered can make the entire coverage task optimal. Currently, it is still manually specified and cannot be solved automatically.

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