Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

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
View PDF10 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • 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

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 程晶晶杨洪涛
Owner ANHUI UNIV OF SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com