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Spraying robot time optimal trajectory planning method based on dynamics

A spraying robot, time-optimized technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low efficiency, inapplicable dynamic models, and non-universal numerical integration methods, so as to improve work efficiency Effect

Inactive Publication Date: 2021-07-09
HARBIN INST OF TECH
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Problems solved by technology

However, the numerical integration method is not universal and not suitable for all dynamic models, while the convex optimization method has a large amount of calculation and is not efficient

Method used

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  • Spraying robot time optimal trajectory planning method based on dynamics
  • Spraying robot time optimal trajectory planning method based on dynamics
  • Spraying robot time optimal trajectory planning method based on dynamics

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Experimental program
Comparison scheme
Effect test

Embodiment

[0060] Embodiment: The spraying robot completes a section of arc trajectory in Cartesian space

[0061] The specific time optimal trajectory planning method is as follows:

[0062] Step 1. Given the Cartesian space path: the teach pendant is given three teaching points, and the positions and attitudes are P1(x 1 ,y 1 ,z 1 , α 1 , β 1 , gamma 1 ), P2(x 2 ,y 2 ,z 2 , α 2 , β 2 , gamma 2 ), P3(x 3 ,y 3 ,z 3 , α 3 , β 3 , gamma 3 ). Among them, the first three coordinates in the coordinates represent the spatial position, and the last three coordinates use Euler angles to represent the attitude;

[0063] Step 2. Calculate the relevant parameters of the interpolation point:

[0064] 2.1 The number of interpolation points: take the value according to the length l of the arc path, and the value formula is n=m×l, where m is the empirical coefficient;

[0065] 2.2 Determine the center and radius of the circle, convert the space arc into a plane arc, and use the meth...

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Abstract

The invention discloses a spraying robot time optimal trajectory planning method based on dynamics, and relates to a robot trajectory planning method. The spraying robot time optimal trajectory planning method comprises the following steps that 1, a Cartesian space path is given; 2, relevant parameters of interpolation points are calculated, including the number of the interpolation points, Cartesian space parameters, joint space parameters and kinetic equation coefficients, the Cartesian space parameters include the position, the posture, the linear speed, the Euler angular speed, the linear acceleration and the Euler angular acceleration, and the joint space parameters include the joint angle, the joint speed and the joint acceleration; 3, a speed range is calculated; 4, an optimal speed value is calculated; 5, a track is smoothened; and 6, the joint parameters are output. Kinematic constraints are considered, a dynamic model is introduced to consider dynamic constraints, and compared with a traditional trajectory planning method, the method has obvious advantages in time, at least one joint motor reaches a limit operation state in the operation process, driving performance is brought into full play, all the joint parameters do not exceed limit values, the working efficiency is improved, and the universality is realized.

Description

technical field [0001] The invention relates to a robot trajectory planning method, in particular to a dynamics-based time-optimized trajectory planning method for a spraying robot, belonging to the technical field of robot control. Background technique [0002] The application and development of industrial robots have promoted the progress of society, but with the continuous development of social economy, higher requirements have been put forward for industrial automation technology. When spraying by robots, in order to improve the production efficiency of spraying robots and create greater economic value, it is necessary to make the robots move faster, more accurately and safer. Therefore, it is necessary to conduct in-depth research on the trajectory planning of the spraying robot. [0003] However, the traditional trajectory planning method only considers the kinematic constraints, does not give full play to the driving performance of the joint motor, and there is also ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1664B25J9/1607B25J11/0075
Inventor 孔民秀邓晗李昂刘霄朋姬一明
Owner HARBIN INST OF TECH
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