Method and system for planning track of working arm of anchor rod supporting robot

Abstract

The invention relates to a track planning method and system for a working arm of an anchor rod supporting robot. The starting and stopping positions of the working arm of the anchor rod supporting robot are determined according to the positions of a first anchor hole and a second anchor hole; barrier-free path planning of the tail end joint of the working arm is conducted between the starting position and the stopping position, and the barrier-free path track of the tail end joint of the working arm is determined; dispersing the track into a plurality of path points, and calculating joint coordinates of each path point relative to the working arm; on the basis of the swing range of the working arm and the joint coordinates of all the path points relative to the working arm, the movement time of the working arm between the adjacent path points is calculated, and then the cubic spline trajectory of the remaining joints of the working arm is determined. A cubic spline interpolation method is adopted for path planning, it is guaranteed that a working arm can pass through a preset path point, and the obstacle avoidance requirement when the anchor rod supporting robot works is met; and the continuous requirements of the working arm of the anchor rod supporting robot on the speed and the accelerated speed in the moving process can be ensured, so that the working arm of the anchor rod supporting robot moves stably without impact.

Description

technical field [0001] The invention relates to the technical field of automatic bolting of a bolting robot, in particular to a trajectory planning method and system for a working arm of a bolting robot. Background technique [0002] The bolt support robot is an important equipment for coal mine roadway support, and it has great significance for the efficient and safe driving of the roadway. The trajectory planning of the working arm of the bolting robot is the technical basis of the automatic bolting. The trajectory planning of the working arm of the bolting robot is expressed as a function of the position and posture motion such as displacement, velocity or acceleration with respect to time, and is generally carried out in joint space or Cartesian space. The complex working environment of coal mines has high requirements for the operation of bolting robots. The bolt support robot working arm needs to ensure smooth movement and no impact during the movement process, and a...

AI Technical Summary

Problems solved by technology

[0003] At present, the trajectory planning of the working arm of the bolt support robot generally adopts point-to-point trajectory planning, such as: polynomial trajectory planning, trapezoidal trajectory planning and other methods, which cannot meet the above requirements at the same time. Collisions in the environment have brought serious safety hazards to underground safety support

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