Multi-layer multi-channel connection path planning method, connection operation control method and related device

Abstract

The invention provides a multi-layer multi-channel connection path planning method, a connection operation control method and a related device, and relates to the technical field of robot control. The method comprises the following steps: acquiring a reference path teaching starting point, a reference path teaching end point, a connection motion mode and a path offset relationship among a plurality of connection paths, which are specified when a connection operation robot executes multi-layer and multi-channel connection operation at a to-be-connected part; according to the method, the reference connection path of the connection operation robot from the reference path teaching starting point to the reference path teaching end point can be automatically planned according to the connection motion mode, and path offset planning is carried out on the basis of the reference connection path according to the obtained path offset relation among the multiple connection paths. And obtaining a plurality of target connection paths including the reference connection path for the multi-layer and multi-channel connection operation, thereby effectively improving the generation efficiency of the multi-layer and multi-channel connection paths, and improving the connection efficiency and the connection automation degree of the robot for realizing the multi-layer and multi-channel connection operation.

Description

technical field [0001] The present application relates to the technical field of robot control, and in particular, to a multi-layer and multi-channel connection path planning, connection operation control method, and related devices. Background technique [0002] With the continuous development of science and technology, robot technology has received extensive attention from all walks of life because of its great research value and application value. A collaborative robot that fixes the workpieces that are separated from each other or is about to be separated, that is, the connected work robot is more and more widely used in the field of industrial manufacturing. In the actual application process of connecting working robots, it is often necessary to perform multi-layer and multi-channel connections on workpieces with wider widths to be connected, so as to ensure that the corresponding workpieces are firmly and reliably fixed. However, it is worth noting that there are many...

AI Technical Summary

Problems solved by technology

However, it is worth noting that there are many multi-layer and multi-channel connection processes, involving multiple connection paths stacked on each other, and the overall control is difficult. Therefore, the generation efficiency of multiple connection paths usually affects the connection robot to complete the entire process. An important factor in the connection efficiency of multi-layer and multi-channel connection operations

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