Planning method for smooth transition between linear tracks of self-driven articulated arm measuring machine

A technology of smooth transition and trajectory planning, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems affecting trajectory smoothness, mechanical vibration, etc., and achieve the effect of improving measurement accuracy and continuous end speed

Pending Publication Date: 2021-09-03
ANHUI UNIV OF SCI & TECH
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Problems solved by technology

The transition between trajectories often adopts a circular arc transition model, for example: Chinese invention patent "a welding robot transition trajectory planning method" (application number 201110000264.3), for the transition weld of welding robot adopts circular arc connection, but the circular arc transition is in There is a jump in speed at the junction between the transition section and the track, which affects the smoothness of the track and can seriously cause mechanical vibration

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  • Planning method for smooth transition between linear tracks of self-driven articulated arm measuring machine
  • Planning method for smooth transition between linear tracks of self-driven articulated arm measuring machine
  • Planning method for smooth transition between linear tracks of self-driven articulated arm measuring machine

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Embodiment Construction

[0037] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0038] The present invention provides a planning method for smooth transition between linear trajectories of a self-driven articulated arm measuring machine. The flow chart is as follows figure 1 shown. Include the following steps:

[0039] Step 1: Enter the parameters and constraints required for trajectory transition

[0040] The end pose of the self-driven articulated arm measuring machine is jointly described by the 3×1 position vector P and the 3×3 attitude matrix R. The poses of the starting point, middle point and end point are arbitrarily specified by the operator, and the position coordinates are set to set as P 0 (461.9,0,127.9),P 1 (5 40, 200, 150), P 2 (542,203,150). Constraints are set as: end maximum velocity V max =100mm / s, maximum acceleration A max =100mm / s 2 .

[0041] Step 2: Establishment of transition model

[0...

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Abstract

The invention relates to a planning method for smooth transition between linear tracks of a self-driven articulated arm measuring machine. Pose information and the constraint conditions are input into an acceleration and deceleration algorithm and an arc transition model to obtain a transition trajectory, and the transition trajectory is combined with a linear trajectory to obtain a complete measurement trajectory. The angle, the speed and the angular speed of each joint are obtained by means of inverse kinematics and an inverse Jacobian matrix, joint space quintic polynomial interpolation is carried out at the abrupt change position of the speed, the continuity and smoothness of the speed and the acceleration are ensured, the self-driven articulated arm measuring machine is prevented from being impacted by the abrupt change of the speed and the acceleration, and the measuring precision is improved. According to the planning method, high-precision measurement of the self-driven articulated arm measuring machine can be realized, and the method can also be applied to trajectory planning of an industrial robot.

Description

technical field [0001] The invention belongs to the field of trajectory planning of a mechanical arm, and in particular relates to a planning method for smooth transition between linear trajectories of a self-driven articulated arm measuring machine. Background technique [0002] The existing articulated arm measuring machines on the market adopt the mode of manual dragging and offline detection, which has low measurement efficiency and cannot be applied to online detection. Therefore, a self-driven articulated arm measuring machine has been developed to realize online automatic measurement. Trajectory planning is an indispensable part of automatic measurement. The trajectory of the self-driven articulated arm measuring machine includes a combination of straight lines and arcs. In order to ensure high-precision measurement, while ensuring the smoothness of the end trajectory, there are also strict requirements on the speed and acceleration changes in the joint space to avoid...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 程晶晶杨洪涛
Owner ANHUI UNIV OF SCI & TECH
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