Smoothing method for Cartesian space motion trail of six-axis series industrial robot

An industrial robot, Cartesian space technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as insufficient feature representation accuracy, low crack image recognition accuracy, and inability to quantitatively describe complex crack details. The transition curvature is continuous, improving the operation efficiency and avoiding the effect of acceleration and deceleration

Active Publication Date: 2021-09-28
杭州泛海科技有限公司
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Problems solved by technology

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects of low crack image recognition accuracy, insufficient accuracy of feature characterization and inability to quantitatively describe the complex crack details contained in the crack feature characterization method in the prior art.

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  • Smoothing method for Cartesian space motion trail of six-axis series industrial robot
  • Smoothing method for Cartesian space motion trail of six-axis series industrial robot
  • Smoothing method for Cartesian space motion trail of six-axis series industrial robot

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Embodiment Construction

[0082] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0083] see Figure 1 to Figure 4 As shown, the present invention provides a method for smoothing the Cartesian space motion trajectory of a six-axis series industrial robot, which specifically includes the following steps.

[0084] Step 1: define i=1, and N is the total segment number of a given motion path;

[0085] Step 2: Determine the adjacent given motion path of the i-th segment and the given motion path of the i+1 segment, and obtain the path parameters of the given motion path of the i-th segment and the given motion path of the i+1 segment, Wherein said path parameter comprises path type, path length, path start position and path end position;

[0086] Step 3: Construct...

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Abstract

The invention relates to a smoothing method for a Cartesian space motion trail of a six-axis series industrial robot. The smoothing method comprises the following steps that a transition path between any two adjacent given motion paths is constructed by using a cubic quasi-uniform spline curve, and an actual transition radius is determined according to the lengths of the two given motion paths and a given transition radius; the position of a starting point of the transition path and the position of an ending point of the transition path are obtained according to the actual transition radius, and the position of a control point of a spline curve serving as the transition path is solved to construct a proper transition path; seven-section S-shaped speed planning is carried out to obtain a function relation between the path length and time, and finally isochronous interpolation is carried out according to the function relation between the path length and time to obtain an actual position of an interpolation point; and then the rotation angle of each joint of the six-axis series industrial robot is obtained through inverse kinematics to drive the six-axis series industrial robot to rotate continuously, so as to obtain a smooth motion trail, and meet the process requirements of actual production.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, in particular to a method for smoothing the Cartesian space motion trajectory of a six-axis series industrial robot. Background technique [0002] The motion trajectory of the six-axis series industrial robot in Cartesian space is determined by the motion path given by multiple motion commands input by the user, the speed planning algorithm and the interpolation algorithm. The motion path (such as straight line and circular arc) given by each motion command is smooth and connected from beginning to end in sequence. However, if the transition process is not performed on the joints of each path, the speed of the six-axis serial industrial robot must be reduced to zero when it passes the joint during speed planning. If it is reduced to zero, then the six-axis series industrial robot will cause serious vibration to the joints of the six-axis series industrial robot due to the discon...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 潘丰钱网
Owner 杭州泛海科技有限公司
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