Efficient industrial robot processing energy-saving trajectory planning method under high-order complex constraint condition

A technology of industrial robots and constraint conditions, applied in metal processing, metal processing equipment, metal processing machine parts, etc. Industrial robots minimize energy or time trajectory planning methods to achieve the effects of reducing planning time, efficient calculations, and practical calculations

Pending Publication Date: 2022-01-28
CHONGQING UNIV
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing methods are developed based on the consideration of optimizing efficiency, and the optimization of energy consumption has not been taken into account, so the existing methods cannot be directly applied to energy-saving trajectory planning
In addition, existing methods hardly consider the nonlinear coupling relationship between feed rate, path acceleration, and path jerk and the detrimental effects of the changing nature of the B-spline feed rate curve on trajectory planning.
[0007] Therefore, there is still a lack of practical planning methods for minimizing energy or time trajectories for industrial robots machining along long complex contour paths

Method used

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  • Efficient industrial robot processing energy-saving trajectory planning method under high-order complex constraint condition
  • Efficient industrial robot processing energy-saving trajectory planning method under high-order complex constraint condition
  • Efficient industrial robot processing energy-saving trajectory planning method under high-order complex constraint condition

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Effect test

Embodiment 1

[0139] An efficient energy-saving trajectory planning method for industrial robot processing under high-order complex constraints, including the following steps:

[0140] 1) Fitting the original tool path curve with non-uniform rational B-splines (NURBS), and discretizing the tool path curve to obtain D+1 path sampling points, the steps include:

[0141] 1.1) With normalized arc length u=s / s Σ As a parameter, NURBS curve fitting is performed on the original tool path to obtain the NURBS tool path curve;

[0142] 1.2) Discretize the tool path curve into D microelement paths according to the equal parameter Δu Obtain D+1 path sampling path points {u 1 ,...,u i ,...,u D}, which is also used as the subsequent constraint judgment point.

[0143] 2) Planning the reference feed rate trajectory, including:

[0144] 2.1) Under the speed constraint condition, calculate the maximum feasible speed of D+1 path sampling points;

[0145] 2.2) Obtain the time-optimal feed rate traject...

Embodiment 2

[0264] An efficient energy-saving trajectory planning method for industrial robot processing under high-order complex constraints, including the following steps (for the process see figure 2 ):

[0265] 1) NURBS curve fitting of the tool path: take the normalized arc length u as a parameter, use the NURBS curve to define the tool path curve, and discretize the path curve and other parameters Δu into D micro-element paths (i=1, . . . , D), obtain D+1 waypoints.

[0266] 2) Planning the reference feed rate trajectory: Considering the speed-related constraints, calculate the maximum feasible speed of D+1 path points, obtain the time-optimal feed rate trajectory under the speed constraints, and use it as the reference trajectory.

[0267] 3) Obtain the B-spline feed rate curve with optimal initial energy: calculate the cubic polynomial energy consumption characteristic model of each microelement path under the reference trajectory ( is the average feed rate, for the refe...

Embodiment 3

[0335] The flow chart of the present invention is shown in figure 2 , select an industrial robot processing system as the experimental object, see figure 1 (The industrial robot processing system includes industrial robot 1, spindle system 3, and tool 2), the tool path 4 of the experimental object is shown in Image 6 As shown in Fig. 1, the efficient high-order and complex constraints of the industrial robot processing energy-saving trajectory planning method for the experimental object, the steps are as follows:

[0336] First, the tool path curve is defined as a function of the normalized arc length u by using the NURBS curve, and the path curve and other parameters Δu are discretized into D micro-element paths Obtain D+i waypoints. D=551.

[0337] The second step is to calculate the maximum feasible feed rate of D+1 path points under the consideration of speed-related constraints, and obtain the time-optimal feed rate trajectory under the speed constraints, and use it...

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Abstract

The invention discloses an efficient industrial robot processing energy-saving trajectory planning method under a high-order complex constraint condition, and the method comprises the steps: 1) fitting a tool path curve through NURBS, and carrying out the discretization of the tool path curve, and obtaining D+1 path points; 2) planning a reference feed rate trajectory; 3) obtaining a B spline feeding rate curve with optimal initial energy; and 4) based on the constraint characteristics, carrying out multiple times of cyclic correction optimization on the B-spline feed rate curve with the optimal initial energy to obtain an optimal feed rate track meeting the constraint conditions. According to the method, the energy-saving trajectory planning time can be remarkably and effectively shortened, an energy consumption model containing a robot kinetic equation does not need to be repeatedly calculated, the optimized trajectory of the industrial robot under the complex constraint condition of machining along the complex path can be obtained, and energy conservation and efficiency improvement of the system are achieved.

Description

technical field [0001] The invention relates to the fields of industrial robot trajectory planning technology and numerical control machining technology, and specifically relates to an efficient energy-saving trajectory planning method for industrial robot processing under high-order complex constraint conditions. Background technique [0002] With the rise of labor costs in the manufacturing industry and the shortage of workers, industrial robots, as an important means of automation, have been favored by many manufacturing industries. The IRF2019 report shows that more than 380,000 new robots were installed in factories worldwide in 2018. Industrial robots have the advantages of high efficiency, low cost, and strong flexibility, and will be used more in the future. Therefore, their energy consumption will inevitably occupy a larger proportion of the total energy consumption of manufacturing. However, with increasing global climate issues and energy shortages, as well as ri...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00B23Q15/013
CPCB25J9/1664B25J11/005B23Q15/013
Inventor 曹华军周进江沛
Owner CHONGQING UNIV
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