Method, device, equipment and storage medium for determining motion trajectory of a robotic arm

Abstract

The present invention discloses a method, device, equipment and storage medium for determining the motion trajectory of a robotic arm. The present invention obtains the tool posture of a workpiece fixing tool in a world coordinate system, and then determines the target posture of the clamped workpiece at a preset point relative to the flange of the robotic arm according to the tool posture, the preset point being the point where the surface of the clamped workpiece is on the processing point of the workpiece fixing tool, and then determines the target joint angle of the robotic arm according to the tool posture and the target posture, and determines the motion trajectory of the robotic arm according to the target joint angle. In the present invention, the preset point is the point where the surface of the clamped workpiece is on the processing point of the workpiece fixing tool, which can make the surface of the clamped workpiece always in contact with the processing point of the workpiece fixing tool, reduce the teaching points, and improve the teaching efficiency, and then determine the motion trajectory of the robotic arm according to the target joint angle, so that the motion trajectory of the robotic arm can be effectively determined and the processing effect of the robotic arm can be improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device, equipment and storage medium for determining a motion trajectory of a robotic arm. Background Art

[0002] With the continuous development of the robotics field and the advancement of industrial automation goals, robotic arms have flooded into production lines in various fields, taking on more and more diverse and complex processing; the complex and changeable working environment has posed huge technical challenges to robotic arms. In the general processing process of a robotic arm, the robotic arm clamps the processing tool fixed to the flange to operate the workpiece fixed to the ground; but when the volume or mass of the processing equipment is large, it is limited by the movement space and rated load of the robotic arm itself, and it is impossible to clamp the equipment for operation. The large-volume and high-weight processing equipment must be fixed to the ground, and the robotic arm holds the workpiece to complete the work. However, in the process of the robotic arm clamping the workpiece for processing, the processing point of the tool cannot always be on the surface of the workpiece, resulting in unsatisfactory processing results and poor processing quality. Therefore, how to effectively determine the motion trajectory of the robotic arm and improve the processing effect of the robotic arm has become an urgent problem to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and storage medium for determining the motion trajectory of a robotic arm, aiming to solve the technical problem of how to effectively determine the motion trajectory of the robotic arm and improve the processing effect of the robotic arm.

[0005] To achieve the above object, the present invention provides a method for determining a motion trajectory of a robotic arm, the method comprising the following steps:

[0006] Obtain the tool posture of the workpiece fixing tool in the world coordinate system;

[0007] Determine a target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the tool posture, wherein the preset point is a point where the surface of the clamped workpiece is located on the processing point of the workpiece fixing tool;

[0008] A target joint angle of the robot arm is determined according to the tool posture and the target posture, and a motion trajectory of the robot arm is determined according to the target joint angle.

[0009] Optionally, the step of determining a target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the tool posture specifically includes:

[0010] Obtaining the flange position and posture of the robot arm flange in the world coordinate system;

[0011] The target posture of the clamped workpiece relative to the robot arm flange at a preset point is determined according to the flange posture and the tool posture.

[0012] Optionally, the step of obtaining the flange posture of the robot arm flange in the world coordinate system specifically includes:

[0013] Get the joint angles of each axis on the robot arm when the workpiece is clamped at the initial position;

[0014] The joint angle is forward-solved and calculated to obtain the flange position and posture of the robot flange in the world coordinate system.

[0015] Optionally, the step of determining a target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the flange posture and the tool posture specifically includes:

[0016] Performing inverse matrix processing on the flange posture to obtain a processed flange posture;

[0017] The target posture of the clamped workpiece relative to the robot arm flange at a preset point is determined according to the processed flange posture and the tool posture.

[0018] Optionally, the step of determining a target joint angle of the robot arm according to the tool posture and the target posture, and determining a motion trajectory of the robot arm according to the target joint angle specifically includes:

[0019] Acquiring a teaching point position and posture of the clamped workpiece relative to the workpiece fixing tool;

[0020] Determining a target joint angle of the robot arm according to the tool posture, the teaching point posture and the target posture;

[0021] The motion trajectory of the robotic arm is determined according to the target joint angle.

[0022] Optionally, the step of obtaining the teaching point position and posture of the clamped workpiece relative to the workpiece fixing tool specifically includes:

[0023] Acquire the initial position of the clamped workpiece relative to the robot arm flange at the initial point;

[0024] The teaching point position of the clamped workpiece relative to the workpiece fixing tool is determined according to the initial position, the tool position and the flange position.

[0025] Optionally, the step of determining a target joint angle of the robot arm according to the tool posture, the teaching point posture and the target posture specifically includes:

[0026] Performing inverse matrix processing on the target posture to obtain a processed target posture;

[0027] Determine the target flange posture of the robot arm flange in the world coordinate system according to the tool posture, the teaching point posture and the processed target posture;

[0028] The target joint angle of the robot arm is determined according to the target flange posture.

[0029] In addition, to achieve the above-mentioned purpose, the present invention further provides a motion trajectory determination device for a robotic arm, the motion trajectory determination device for a robotic arm comprising:

[0030] A posture acquisition module is used to obtain the tool posture of the workpiece fixing tool in the world coordinate system;

[0031] The posture acquisition module is further used to determine the target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the tool posture, and the preset point is the point where the surface of the clamped workpiece is located on the processing point of the workpiece fixing tool;

[0032] The trajectory determination module is used to determine the target joint angle of the robot arm according to the tool posture and the target posture, and determine the motion trajectory of the robot arm according to the target joint angle.

[0033] In addition, to achieve the above-mentioned purpose, the present invention also proposes a device for determining the motion trajectory of a robotic arm, wherein the device for determining the motion trajectory of a robotic arm comprises: a memory, a processor, and a program for determining the motion trajectory of a robotic arm stored in the memory and executable on the processor, wherein the program for determining the motion trajectory of the robotic arm is configured to implement the steps of the method for determining the motion trajectory of the robotic arm as described above.

[0034] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a program for determining the motion trajectory of a robotic arm is stored. When the program for determining the motion trajectory of the robotic arm is executed by a processor, the steps of the method for determining the motion trajectory of the robotic arm as described above are implemented.

[0035] The present invention obtains the tool posture of the workpiece fixing tool in the world coordinate system, and then determines the target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the tool posture, the preset point being the point where the surface of the clamped workpiece is on the processing point of the workpiece fixing tool, and then determines the target joint angle of the robot arm according to the tool posture and the target posture, and determines the motion trajectory of the robot arm according to the target joint angle. The present invention determines the target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the tool posture, the preset point being the point where the surface of the clamped workpiece is on the processing point of the workpiece fixing tool, so that the surface of the clamped workpiece is always in contact with the processing point of the workpiece fixing tool, and reduces the teaching points to improve the teaching efficiency, and then determines the target joint angle of the robot arm according to the tool posture and the target posture, and determines the motion trajectory of the robot arm according to the target joint angle, so that the motion trajectory of the robot arm can be effectively determined and the processing effect of the robot arm can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of a motion trajectory determination device for a robotic arm in a hardware operating environment involved in an embodiment of the present invention;

[0037] Figure 2 It is a schematic flow chart of a first embodiment of a method for determining a motion trajectory of a robot arm according to the present invention;

[0038] Figure 3 A schematic diagram of a trajectory of a clamped workpiece according to an embodiment of a method for determining a motion trajectory of a robot arm of the present invention;

[0039] Figure 4 A schematic diagram of a flow chart of a second embodiment of a method for determining a motion trajectory of a robot arm according to the present invention;

[0040] Figure 5 A schematic diagram of a flow chart of a third embodiment of a method for determining a motion trajectory of a robot arm according to the present invention;

[0041] Figure 6 It is a structural block diagram of the first embodiment of the motion trajectory determination device of the robot arm of the present invention.

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0044] Reference Figure 1 , Figure 1 The present invention is a schematic diagram of a motion trajectory determination device for a robotic arm in a hardware operating environment according to an embodiment of the present invention.

[0045] like Figure 1 As shown, the motion trajectory determination device of the robot arm may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0046] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the motion trajectory determination device of the robot arm, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0047] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a motion trajectory determination program for the robotic arm.

[0048] exist Figure 1 In the device for determining the motion trajectory of the robotic arm shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the device for determining the motion trajectory of the robotic arm of the present invention can be set in the device for determining the motion trajectory of the robotic arm, and the device for determining the motion trajectory of the robotic arm calls the program for determining the motion trajectory of the robotic arm stored in the memory 1005 through the processor 1001, and executes the method for determining the motion trajectory of the robotic arm provided in an embodiment of the present invention.

[0049] Based on the above-mentioned motion trajectory determination device of the robot arm, an embodiment of the present invention provides a motion trajectory determination method of the robot arm, referring to Figure 2 , Figure 2 Schematic diagram of the flow chart of the first embodiment of the method for determining the motion trajectory of a robot arm of the present invention.

[0050] In this embodiment, the method for determining the motion trajectory of the robotic arm comprises the following steps:

[0051] Step S10: obtaining the tool posture of the workpiece fixing tool in the world coordinate system;

[0052] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, etc., or an electronic device or a motion trajectory determination device of a robotic arm that can realize the above functions. The following takes the motion trajectory determination device of the robotic arm as an example to illustrate this embodiment and the following embodiments.

[0053] It should be understood that reference Figure 3 , Figure 3 The schematic diagram of the trajectory of a clamped workpiece in an embodiment of the method for determining the motion trajectory of a robot arm of the present invention is shown in FIG. The workpiece fixing tool refers to a tool fixed relative to the ground, such as Figure 3 The pentagon in Figure 2 is shown.

[0054] It is understandable that the world coordinate system refers to the absolute coordinate system of the system. Before the user coordinate system is established, the coordinates of all points on the screen are determined by the origin of the coordinate system. The world coordinate system of this embodiment refers to the earth coordinate system or the base coordinate system. If the robot is not mounted on a mechanical unit such as a guide rail, the world coordinate system can be the base coordinate system of the robot. Generally, the base coordinate system of the robot coincides with the earth coordinate system. Tool posture refers to the posture of the workpiece fixing tool relative to the ground. The tool posture may include tool position and tool angle. The tool position refers to the position coordinates of the workpiece fixing tool in the world coordinate system, which may include the coordinates of the X-axis, Y-axis, and Z-axis. The tool angle refers to the angle of the workpiece fixing tool in the world coordinate system, which may include the angles with the X-axis, Y-axis, and Z-axis.

[0055] In a specific implementation, this embodiment can calibrate the workpiece fixing tool and the world coordinate system. The calibration method can be a three-point calibration or a five-point calibration to obtain the correspondence between the workpiece fixing tool and the world coordinate system, that is, the correspondence between the position and angle of each axis. Then, based on the correspondence, the tool posture of the workpiece fixing tool in the world coordinate system can be obtained.

[0056] Step S20: determining a target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the tool posture, wherein the preset point is a point where the surface of the clamped workpiece is located on a processing point of the workpiece fixing tool;

[0057] It is understood that the preset point refers to a point pre-set on the clamped workpiece, specifically a point where the clamped workpiece intersects with the processing point of the workpiece fixing tool. Figure 3 The black column in the figure indicates the clamped workpiece. Figure 3 The preset points include 4 points, which are just examples for illustration. This application does not impose any specific restrictions on the number of preset points. The more preset points there are, the more accurate the motion trajectory of the robotic arm will be.

[0058] It should be understood that Figure 3 In the process of moving the clamped workpiece from position P1 to position P2, only two points need to be taught on the surface of the clamped workpiece, namely point P1 and point P2. During the operation of the robot arm, the surface of the clamped workpiece is always at the processing point of the workpiece fixing tool, which can minimize the intermediate transition points of teaching and avoid uneven operating speed. At the same time, it saves the teaching time of the robot arm operator and reduces the complexity of teaching.

[0059] In a specific implementation, the target posture refers to the posture of the clamped workpiece relative to the robot arm flange, which may specifically include position and angle. The clamped workpiece may correspond to different target postures at different preset points.

[0060] Step S30: determining a target joint angle of the robot arm according to the tool posture and the target posture, and determining a motion trajectory of the robot arm according to the target joint angle.

[0061] It can be understood that the target joint angle refers to the joint angle of the robot arm during operation, which can be specifically determined based on the tool posture and the target posture, and then the motion trajectory of the robot arm can be determined based on the target joint angle.

[0062] This embodiment obtains the tool posture of the workpiece fixing tool in the world coordinate system, and then determines the target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the tool posture, the preset point being the point where the surface of the clamped workpiece is on the processing point of the workpiece fixing tool, and then determines the target joint angle of the robot arm according to the tool posture and the target posture, and determines the motion trajectory of the robot arm according to the target joint angle. This embodiment determines the target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the tool posture, the preset point being the point where the surface of the clamped workpiece is on the processing point of the workpiece fixing tool, so that the surface of the clamped workpiece is always in contact with the processing point of the workpiece fixing tool, and reduces the teaching points to improve the teaching efficiency, and then determines the target joint angle of the robot arm according to the tool posture and the target posture, and determines the motion trajectory of the robot arm according to the target joint angle, so that the motion trajectory of the robot arm can be effectively determined and the processing effect of the robot arm can be improved.

[0063] refer to Figure 4 , Figure 4 Schematic diagram of the flow chart of the second embodiment of the method for determining the motion trajectory of a robot arm of the present invention.

[0064] Based on the above first embodiment, in this embodiment, step S20 includes:

[0065] Step S201: obtaining the flange position and posture of the robot flange in the world coordinate system;

[0066] It should be noted that the flange posture refers to the posture of the robot flange in the world coordinate system, which may specifically include position and angle.

[0067] Furthermore, in order to accurately determine the flange posture, in this embodiment, the step S201 includes: obtaining the joint angles of each axis on the robot arm when the workpiece is clamped as the initial point; performing a forward solution calculation on the joint angles to obtain the flange posture of the robot arm flange in the world coordinate system.

[0068] It is understood that the initial point refers to the initial position of the clamped workpiece, such as Figure 3 As shown in the first figure, the joint angles of each axis on the robot can be obtained, and then the joint angles are calculated positively to obtain the flange position of the robot flange in the world coordinate system. The specific calculation formula can be: T base = FK(theta), where T base represents the flange pose, theta represents the joint angles of each axis on the robot, and FK represents the forward solution calculation of the robot.

[0069] Step S202: determining a target posture of a clamped workpiece relative to the robot arm flange at a preset point according to the flange posture and the tool posture.

[0070] Furthermore, in order to accurately determine the target posture, in the present embodiment, the step S202 includes: performing inverse matrix processing on the flange posture to obtain a processed flange posture; and determining the target posture of the clamped workpiece at a preset point relative to the robot arm flange based on the processed flange posture and the tool posture.

[0071] It should be understood that in this embodiment, the flange posture can be inversely matrix processed to obtain the processed flange posture, and then the target posture of the clamped workpiece relative to the robot flange at the preset point can be obtained according to the processed flange posture and tool posture by the following formula. The specific formula is: in, represents the flange pose after processing, T user Represents the tool pose.

[0072] In a specific implementation, for different preset points, the flange posture of the robot flange in the world coordinate system may be different, and the corresponding target posture of the clamped workpiece relative to the robot flange may also be different.

[0073] This embodiment obtains the flange posture of the robot flange in the world coordinate system, and then determines the target posture of the clamped workpiece relative to the robot flange at a preset point based on the flange posture and the tool posture. This embodiment determines the target posture of the clamped workpiece relative to the robot flange at a preset point based on the flange posture and the tool posture, and can determine the target posture of the clamped workpiece relative to the robot flange in real time during the movement of the robot, so as to determine the target joint angle of the robot.

[0074] refer to Figure 5 , Figure 5 Schematic diagram of the flow chart of the third embodiment of the method for determining the motion trajectory of a robot arm of the present invention.

[0075] Based on the above embodiments, in this embodiment, step S30 includes:

[0076] Step S301: obtaining the teaching point position and posture of the clamped workpiece relative to the workpiece fixing tool;

[0077] It should be noted that the teaching point position refers to the position of the clamped workpiece relative to the workpiece fixing tool, which may specifically include the position and angle.

[0078] Furthermore, in order to accurately determine the teaching point position posture, in this embodiment, the step S301 includes: obtaining the initial posture of the clamped workpiece at the initial point relative to the robot arm flange; determining the teaching point position posture of the clamped workpiece relative to the workpiece fixing tool based on the initial posture, the tool posture and the flange posture.

[0079] It can be understood that the initial posture refers to the posture of the clamped workpiece relative to the robot flange at the initial point, for example Figure 3 The first figure in the figure corresponds to the position of the clamped workpiece relative to the robot flange. The method for determining the initial position can be to calibrate the clamped workpiece and the robot flange. A 3-point calibration or a 5-point calibration method can be used to obtain the initial position of the clamped workpiece relative to the robot flange.

[0080] In a specific implementation, this embodiment can determine the teaching point position of the clamped workpiece relative to the workpiece fixing tool according to the initial position, tool position and flange position by the following formula, and the specific formula is: Among them, T teach Indicates the teaching point position and posture. The inverse matrix of the tool pose, T base Indicates flange position, T tool represents the initial pose.

[0081] Step S302: determining a target joint angle of the robot arm according to the tool posture, the teaching point posture and the target posture;

[0082] It should be noted that the target joint angle of the robotic arm may include the joint angles corresponding to the axes of the robotic arm.

[0083] Furthermore, in order to accurately determine the target joint angle, in this embodiment, the step S302 includes: performing inverse matrix processing on the target posture to obtain the processed target posture; determining the target flange posture of the robot arm flange in the world coordinate system according to the tool posture, the teaching point posture and the processed target posture; determining the target joint angle of the robot arm according to the target flange posture.

[0084] It is understandable that when the clamped workpiece is at different preset positions, the flange posture of the robot flange in the world coordinate system is also different, so the flange posture needs to be updated to obtain the target flange posture.

[0085] It should be understood that in this embodiment, the target flange position of the robot flange in the world coordinate system can be determined by the following formula according to the tool position, the teaching point position and the processed target position. The specific formula is: base =T user *T teach *(T′ tool ) -1 , where T′ base represents the target flange position, T user represents the tool posture, (T′ tool ) -1 Represents the processed target pose.

[0086] In a specific implementation, this embodiment can determine the target joint angle of the robot arm according to the target flange posture through the following formula, the specific formula is: theta′=IK(T′ base ), where theta′ represents the target joint angle, T′ base represents the target flange pose, and IK represents the inverse solution calculation of the robot arm.

[0087] Step S303: determining the motion trajectory of the robotic arm according to the target joint angle.

[0088] It should be understood that after obtaining the target joint angle of the robot arm corresponding to each preset point, the motion trajectory of the robot arm can be synthesized to move the clamped workpiece from Figure 3 Move the position of P1 to the position of P2.

[0089] This embodiment obtains the teaching point position posture of the clamped workpiece relative to the workpiece fixing tool, and then determines the target joint angle of the robot arm according to the tool posture, the teaching point posture and the target posture, and then determines the motion trajectory of the robot arm according to the target joint angle. This embodiment determines the target joint angle of the robot arm according to the tool posture, the teaching point posture and the target posture, so that the target joint angle of the robot arm corresponding to the clamped workpiece at each preset point can be accurately obtained, and the motion trajectory of the robot arm is determined according to the target joint angle, so that the motion trajectory of the robot arm can be effectively determined, and the processing effect of the robot arm can be improved.

[0090] Reference Figure 6 , Figure 6 It is a structural block diagram of the first embodiment of the motion trajectory determination device of the robot arm of the present invention.

[0091] like Figure 6 As shown, the motion trajectory determination device of the robot arm proposed in the embodiment of the present invention includes:

[0092] A posture acquisition module 10 is used to acquire the tool posture of the workpiece fixing tool in the world coordinate system;

[0093] The posture acquisition module 10 is further used to determine the target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the tool posture, and the preset point is the point where the surface of the clamped workpiece is located on the processing point of the workpiece fixing tool;

[0094] The trajectory determination module 20 is used to determine the target joint angle of the robot arm according to the tool posture and the target posture, and determine the motion trajectory of the robot arm according to the target joint angle.

[0095] This embodiment obtains the tool posture of the workpiece fixing tool in the world coordinate system, and then determines the target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the tool posture, the preset point being the point where the surface of the clamped workpiece is on the processing point of the workpiece fixing tool, and then determines the target joint angle of the robot arm according to the tool posture and the target posture, and determines the motion trajectory of the robot arm according to the target joint angle. This embodiment determines the target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the tool posture, the preset point being the point where the surface of the clamped workpiece is on the processing point of the workpiece fixing tool, so that the surface of the clamped workpiece is always in contact with the processing point of the workpiece fixing tool, and reduces the teaching points to improve the teaching efficiency, and then determines the target joint angle of the robot arm according to the tool posture and the target posture, and determines the motion trajectory of the robot arm according to the target joint angle, so that the motion trajectory of the robot arm can be effectively determined and the processing effect of the robot arm can be improved.

[0096] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0097] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the method for determining the motion trajectory of a robotic arm provided in any embodiment of the present invention, and will not be repeated here.

[0098] Based on the first embodiment of the device for determining the motion trajectory of a robot arm of the present invention, a second embodiment of the device for determining the motion trajectory of a robot arm of the present invention is proposed.

[0099] In this embodiment, the posture acquisition module 10 is also used to obtain the flange posture of the robot flange in the world coordinate system; and determine the target posture of the clamped workpiece relative to the robot flange at a preset point based on the flange posture and the tool posture.

[0100] Furthermore, the posture acquisition module 10 is also used to obtain the joint angles of each axis on the robot arm when the workpiece is clamped at the initial point; perform forward solution calculation on the joint angles to obtain the flange posture of the robot arm flange in the world coordinate system.

[0101] Furthermore, the posture acquisition module 10 is also used to perform inverse matrix processing on the flange posture to obtain a processed flange posture; and determine the target posture of the clamped workpiece at a preset point relative to the robot arm flange based on the processed flange posture and the tool posture.

[0102] Furthermore, the trajectory determination module 20 is also used to obtain the teaching point position posture of the clamped workpiece relative to the workpiece fixing tool; determine the target joint angle of the robot arm according to the tool posture, the teaching point position posture and the target posture; and determine the motion trajectory of the robot arm according to the target joint angle.

[0103] Furthermore, the trajectory determination module 20 is also used to obtain the initial posture of the clamped workpiece at the initial point relative to the robot arm flange; and determine the teaching point posture of the clamped workpiece relative to the workpiece fixing tool based on the initial posture, the tool posture and the flange posture.

[0104] Furthermore, the trajectory determination module 20 is also used to perform inverse matrix processing on the target posture to obtain a processed target posture; determine the target flange posture of the robot arm flange in the world coordinate system according to the tool posture, the teaching point posture and the processed target posture; determine the target joint angle of the robot arm according to the target flange posture.

[0105] Other embodiments or specific implementations of the motion trajectory determination device of the robot arm of the present invention can refer to the above-mentioned method embodiments and will not be described in detail here.

[0106] In addition, an embodiment of the present invention further proposes a storage medium, on which a program for determining the motion trajectory of a robot arm is stored. When the program for determining the motion trajectory of a robot arm is executed by a processor, the steps of the method for determining the motion trajectory of a robot arm as described above are implemented.

[0107] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0108] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0109] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0110] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for determining a motion trajectory of a robotic arm, characterized in that: The method for determining the trajectory of the robot arm comprises the following steps: Acquire a tool posture of a workpiece fixing tool in a world coordinate system, wherein the workpiece fixing tool is a tool fixed relative to the ground; Determine a target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the tool posture, wherein the preset point is a point where the surface of the clamped workpiece is located on the processing point of the workpiece fixing tool; Determining a target joint angle of a robotic arm according to the tool posture and the target posture, and determining a motion trajectory of the robotic arm according to the target joint angle; The step of determining the target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the tool posture specifically includes: Get the joint angles of each axis on the robot arm when the workpiece is clamped at the initial position; Performing forward solution calculation on the joint angle to obtain the flange position and posture of the robot flange in the world coordinate system; Determining a target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the flange posture and the tool posture; The step of determining the target joint angle of the robot arm according to the tool posture and the target posture, and determining the motion trajectory of the robot arm according to the target joint angle specifically includes: Acquire the initial position of the clamped workpiece relative to the robot arm flange at the initial point; Determining the teaching point position of the clamped workpiece relative to the workpiece fixing tool according to the initial position, the tool position and the flange position; Determining a target joint angle of the robot arm according to the tool posture, the teaching point posture and the target posture; The motion trajectory of the robotic arm is determined according to the target joint angle.

2. The method for determining the motion trajectory of a robot arm according to claim 1, characterized in that: The step of determining a target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the flange posture and the tool posture specifically includes: Performing inverse matrix processing on the flange posture to obtain a processed flange posture; The target posture of the clamped workpiece relative to the robot arm flange at a preset point is determined according to the processed flange posture and the tool posture.

3. The method for determining the motion trajectory of a robot arm according to claim 1, characterized in that: The step of determining the target joint angle of the robot arm according to the tool posture, the teaching point posture and the target posture specifically includes: Performing inverse matrix processing on the target posture to obtain a processed target posture; Determine the target flange posture of the robot arm flange in the world coordinate system according to the tool posture, the teaching point posture and the processed target posture; The target joint angle of the robot arm is determined according to the target flange posture.

4. A motion trajectory determination device for a robotic arm, characterized in that: The motion trajectory determination device of the mechanical arm comprises: A posture acquisition module, used to acquire the tool posture of a workpiece fixing tool in a world coordinate system, wherein the workpiece fixing tool is a tool fixed relative to the ground; The posture acquisition module is further used to determine the target posture of the clamped workpiece relative to the robot arm flange at a preset point according to the tool posture, and the preset point is the point where the surface of the clamped workpiece is located on the processing point of the workpiece fixing tool; A trajectory determination module, used to determine a target joint angle of the robot arm according to the tool posture and the target posture, and determine a motion trajectory of the robot arm according to the target joint angle; The posture acquisition module is also used to obtain the joint angles of each axis on the robot arm when the clamped workpiece is at the initial point position; perform forward solution calculation on the joint angles to obtain the flange posture of the robot arm flange in the world coordinate system; determine the target posture of the clamped workpiece at a preset point relative to the robot arm flange according to the flange posture and the tool posture; The trajectory determination module is also used to obtain the initial posture of the clamped workpiece at the initial point relative to the flange of the robot arm; determine the teaching point posture of the clamped workpiece relative to the workpiece fixing tool according to the initial posture, the tool posture and the flange posture; determine the target joint angle of the robot arm according to the tool posture, the teaching point posture and the target posture; determine the motion trajectory of the robot arm according to the target joint angle.

5. A motion trajectory determination device for a robotic arm, characterized in that: The device includes: a memory, a processor, and a robot arm motion trajectory determination program stored in the memory and executable on the processor, wherein the robot arm motion trajectory determination program is configured to implement the steps of the robot arm motion trajectory determination method as described in any one of claims 1 to 3.

6. A storage medium, characterized in that: The storage medium stores a program for determining the motion trajectory of a robot arm, and when the program for determining the motion trajectory of a robot arm is executed by a processor, the steps of the method for determining the motion trajectory of a robot arm according to any one of claims 1 to 3 are implemented.

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