Robot dynamic track planning method for target synchronization

Abstract

The invention discloses a robot dynamic track planning method for target synchronization, and relates to the field of robot control methods. A robot can stably start to track a moving target object from the static state and finally keep synchronous with the target object. The method comprises the following steps: 1, defining parameters and giving track parameters; 2, dividing stages; 3, performing dynamic planning of an acceleration synchronization stage; 4, performing dynamic planning of a deceleration synchronization stage; and 5, completing tracking and entering a synchronization stage. The whole planning process is small in operand, the requirement of real-time interpolation calculation can be met, the position of the target object does not need to be predicted, and certain synchronization precision can be guaranteed. Safety verification is realized in the tracking process, so that the safety of equipment in the actual operation process can be ensured. After the tail end of the robot is synchronized with the target object, complex track movement can be further executed according to process requirements in actual application.

Description

technical field [0001] The invention relates to the field of robot control methods. Background technique [0002] Robots have been widely used in automated operations. One of the more common applications is to track and synchronize target objects on the conveyor belt to complete complex processes such as grasping, packaging, sorting, gluing, and online inspection. Since the target object in motion has position uncertainty, it is possible to dynamically plan the trajectory of the robot so that it can track the target object in real time, maintain a certain synchronization accuracy and the entire motion process is smooth and smooth, which has practical engineering significance. [0003] In the prior art, the document "A Trajectory Planning Method for Robot Manipulator Arm Tracking Dynamic Target" proposes a dynamic trajectory planning method based on genetic algorithm, and obtains the trajectory of the robot manipulator arm tracking the target object. However, the time of the ...

AI Technical Summary

Problems solved by technology

A Chinese invention patent application titled "Method, system and device for dynamic tracking of moving targets based on S-curve acceleration and deceleration", application number "201710983709.1" and titled "A method, device and system for synchronous tracking of conveyor belts for robots" The dynamic tracking methods disclosed in the Chinese invention patent application with the application number "201810467241.5" all use the idea of ​​predicting the meeting point, that is, calculating the meeting point between the end of the robot and the target object in advance, based on the idea of ​​"prediction, planning, execution" Complete dynamic tracking, but the speed of the conveyor belt will fluctuate in actual applications, which may lead to inaccurate prediction of the meeting point, thus losing a certain degree of accuracy

The Chinese invention patent application titled "A Dynamic Tracking Method for Industrial Robot Conveyor Belt" with the application number "201810467881.6" discloses a dynamic tracking method based on the idea of ​​synthesizing the end speed of the robot. The final result is obtained by integrating the synthesized end speed. Traveling path, the composite speed includes the teaching speed, the actual conveyor speed and the error correction speed. Since the actual conveyor speed fluctuates, directly synthesizing it cannot guarantee the stability of the robot during the startup phase.

A Chinese invention patent application titled "A Method for Grasping Moving Objects Based on Decomposition Velocity Planning Algorithm" with application number "201811399335.X", titled "A Method for Robotic Target Tracking Trajectory Planning" with application number "201911347861.6 "'s Chinese invention patent application and the document "Robot Dynamic Material Tracking and Grasping Technology Trajectory Algorithm Design" are based on the idea of ​​motion decomposition to realize the trajectory tracking of the target object. The former is based on the idea of ​​speed decomposition, and the latter two are Based on the idea of ​​displacement decomposition, although it has the advantages of fast convergence speed and stable positioning process, this method will no longer be applicable when the robot needs to realize complex trajectory movement synchronously due to process requirements after tracking.

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