Robot control, track joining and smoothing method and system

A control method and smooth processing technology, applied in the field of robotics, to reduce strong dependence, improve service life, and ensure smoothness

Pending Publication Date: 2022-03-15
杭州景吾智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this invention does not prevent the robot from appearing in the dangerous working condition of "emergency stop and start".

Method used

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  • Robot control, track joining and smoothing method and system
  • Robot control, track joining and smoothing method and system
  • Robot control, track joining and smoothing method and system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0053] A robot control method according to the present invention provides, as Figure 1 - Figure 3 As shown, including:

[0054] Step S1: the status display and the work needs, by the interface task instruction issued;

[0055] Step S2: The motion planning module receives a task instruction, with the current state of the robot to robot motion planning, the planning results and feedback interface;

[0056] If the plan fails, no path planning, robot remain stationary state to terminate the operation;

[0057] If the plan is successful, the planned path is sent to the trajectory of the smoothing processing module adapter, run the step S3;

[0058] Step S3: path planning module receiving the smoothing process to the planned path, automatically generating a smooth trajectory to meet the real-time sampling period process and issued to the servo system;

[0059] Step S4: execute smooth track servo system controlling the robot in accordance with the respective articulation smooth trajector...

Embodiment 2

[0065] Example 2 Example 1 is the preferred embodiment, more particularly to the present invention will be described.

[0066] A robot skilled in the art may be provided a control method of the present invention, be understood that the specific embodiments of the robot control system, i.e., the robot control system may be implemented method of control steps performed by the robot.

[0067] A robot control system according to the present invention is provided, comprising:

[0068] Module M1: The work requirements and the state displayed by the interface task instruction issued;

[0069] Module M2: motion planning module receives a task instruction, with the current state of the robot to robot motion planning, programming and feedback results through interface;

[0070] If the plan fails, no path planning, robot remain stationary state to terminate the operation;

[0071] If the plan is successful, the planned path is sent to the interface with the trajectory smoothing module execut...

Embodiment 3

[0079] Example 3 Example 1 is the preferred embodiment, more particularly to the present invention will be described.

[0080] According to the present invention provides the smoothing processing based on the convergence system robot trajectory control system, comprising:

[0081] Real-time trajectory smoothing module: real-time and non-real-time process synchronization process on trajectories;

[0082] Non-real-time trajectory smoothing module: firstly converted to non-real time trace with the track, then the non-real-time processes with respect to real-time process trajectory synchronization, a servo system for generating a smooth trajectory.

[0083] In particular, the real-time trajectory smoothing module:

[0084] Due to inconsistencies in the operation rate of non-real-time processes and the real-time process, add a piece of the track buffer queue when synchronization between the two processes, the robot hardware performance and mission requirements to provide the buffer que...

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PUM

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Abstract

The invention provides a robot control, track connection and smoothing method and system. The robot control, track connection and smoothing method comprises the steps that a task instruction is issued through an interactive interface; receiving a task instruction, and performing motion planning on the robot in combination with the current state of the robot; if the planning fails, the planning path is not generated; if the planning succeeds, a planning path is sent to a track connection and smoothing processing module, and a smooth track meeting a real-time process sampling period is automatically generated and issued to a servo system; executing the smooth track, and controlling each joint of the robot to move according to the smooth track. The real-time track smooth processing module is used for synchronizing the motion track in the real-time process and the motion track in the non-real-time process; and the non-real-time track smooth processing module converts the non-real-time track into a real-time track and then synchronizes the real-time process and the non-real-time process about the motion track. The adaptability and intelligence of the robot are improved, and the strong dependence of the robot on the environment is reduced.

Description

Technical field [0001] The present invention relates to the field of robotics, in particular, to a robot control, track interface with smoothing method and system. Background technique [0002] Robot is a high precision, MIMO, highly nonlinear and strong coupling of the system, because it has the property of automation, such that the robot in the field of industrial manufacturing, medical treatment, semiconductor manufacturing and space exploration play important features . Traditional real-time control of the robot control system, the control cycle is very short, and therefore high accuracy can be realized at the same time also have a stable performance function, while the task is simple, a conventional robot control architecture can well meet the needs of a single repeated application scenario , such as the loading and unloading facility, the robot is only necessary to repeat a fixed path. But with the popularity of robotic applications, their faces also become more complex sce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664Y02P90/02
Inventor 廖志祥郭震
Owner 杭州景吾智能科技有限公司
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