Robot workspace optimization method and device, storage medium and equipment

Abstract

The invention provides a robot working space optimization method and device, a storage medium and equipment, and the method comprises the steps: determining an optimization target of a robot, and enabling the optimization target to comprise the working space of the robot; selecting a design variable from the mechanical arm parameters of the robot, wherein the design variable is used for describing the working space of the robot; constructing a mathematical model based on the optimization target of the robot, determining constraint conditions of the mathematical model, and determining a target function of the mathematical model based on the constraint conditions; and performing iterative optimization on the target function based on a constraint condition to obtain a design variable which meets the constraint condition and corresponds to the optimization target. According to the space optimization method of the robot provided by the invention, the operability and rigidity of the robot can be improved on the basis of optimizing the working space of the robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method, device, storage medium and equipment for optimizing a working space of a robot. Background technique [0002] The field of robotics integrates various disciplines such as machinery, electronics, control, and artificial intelligence. It is a representative of a country's modern industrial development level and the development direction of intelligent assembly. At present, with the development of IC, semiconductor, and 3C industries and the continuous upgrading of modern automation factories, modern industry has higher and higher requirements for robots. Among them, robots with six degrees of freedom, also known as six-joint robots, are widely used in assembly, sorting, packaging and other fields due to their versatility and strong environmental adaptability. [0003] The arm span of the robot affects its working space, and the decisive factors of the arm span...

AI Technical Summary

Problems solved by technology

[0004] At present, the length of the connecting rod of the robot's large arm and the length of the connecting rod of the small arm are generally designed based on the designer's experience, which is highly dependent on the designer's experience and is not conducive to the high-precision development of the robot.

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