An industrial robot skill transfer method based on XR demonstrated trajectory

Abstract

The application discloses an industrial robot skill migration method based on XR teaching trajectory and relates to the technical field of industrial robot teaching and motion control. A skill migration operation batch is established, kinematics parameters, joint limits, tool center point parameters, workpiece coordinate reference, process constraints and XR space reference of a target robot are read, tool pose trajectories collected by an XR terminal are converted to workpiece coordinate reference, trajectory segments are divided according to tool states, workpiece action positions and motion stages, skill anchor points and skill constraints are registered, joint position combinations of each trajectory frame are read, candidate joint sequences are established, joint continuity, singularity, collision, relative relationship between a tool and a workpiece, glue valve state and continuous operation speed are verified, and migration states are registered, limited transition trajectories are established for local non-passing intervals, verified joint sequences that pass the verification are re-verified and connected, and control trajectories of the target industrial robot are generated. The application can improve the reliability of cross-robot skill migration.

Description

Technical Field

[0001] This invention relates to the field of industrial robot teaching and motion control technology, specifically to a method for transferring industrial robot skills based on Extended Reality (XR) teaching trajectories. Background Technology

[0002] When teaching industrial robots using XR terminals, the continuous pose trajectories of the operator's hand or the virtual robot's end effector are typically acquired first, and then the motion trajectory of the target robot is generated through coordinate transformation. The source teaching model and the target industrial robot differ in link dimensions, joint range, wrist structure, and tool center point parameters; the same end effector pose may also correspond to multiple inverse kinematics (IK) solutions for each joint. Existing methods mostly solve for the target robot's joint positions using discrete trajectory points, assuming that the taught trajectory has transferability conditions as long as each trajectory point has an IK solution.

[0003] However, the reachability of discrete trajectory points does not guarantee the continuous execution of the entire trajectory. When adjacent trajectory points employ different inverse kinematics branches, joint jumps, singular neighborhood velocity amplification, and local collisions may occur. After obstacle avoidance correction, speed limiting, and time scaling of the trajectory, the tool-workpiece relative position, tool posture, direction of motion, and operating speed in critical work segments may also change. Existing technologies lack a mechanism for segment-level joint verification of the retention of the original taught skill constraints and the continuous execution of the target robot, making it difficult to distinguish between directly transferable segments, segments requiring local reconstruction, and non-transferable segments before actual execution. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a method for skill transfer in industrial robots based on XR teaching trajectories, in order to solve the problems mentioned in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a method for skill transfer in industrial robots based on XR teaching trajectories, comprising the following steps: S1. Establish skill transfer operation batches and read the kinematic parameters, joint limitations, tool center point parameters, workpiece coordinate reference, process constraints and XR space reference of the target industrial robot. S2. Based on the correspondence between the XR spatial reference and the workpiece coordinate reference, the tool pose trajectory acquired by the XR terminal is converted to the workpiece coordinate reference, and the trajectory segments are divided according to the tool state, workpiece position and motion stage, and the skill anchor points and skill constraints of each trajectory segment are registered. S3. Determine the joint solver based on the inverse kinematics interface capability of the target industrial robot controller. Perform inverse kinematics solution on the tool pose of each trajectory frame according to the trajectory segment sequence. Form a joint position combination verified by the target industrial robot controller. Establish a candidate joint sequence based on the segment entry joint state, robot configuration and the continuity relationship of adjacent joints. S4. Verify the joint continuity, singularity and collision states of each trajectory segment based on the candidate joint sequence, and verify the skill anchor point, tool-workpiece relative relationship, valve state and continuous operation speed based on the tool pose of the target industrial robot, and register the migration state of the trajectory segment. S5. For trajectory segments that require local reconstruction, establish a restricted transition trajectory between consecutively passed intervals, re-execute the continuous execution verification and skill retention verification, connect the verified joint sequences in the order of trajectory segments, and generate the control trajectory of the target industrial robot.

[0006] Furthermore, S1 includes: Bind the robot parameter file version, glue gun tool center point parameters, XR teaching tool center point parameters, workpiece coordinate datum, process card version, and XR spatial datum to the same skill transfer operation batch. When the robot equipment number, workpiece coordinate number, glue gun tool number, fixture number, and the corresponding number in the process card are consistent, XR teaching trajectory acquisition can be started. If there are inconsistencies between the robot equipment number, workpiece coordinate number, glue gun tool number, fixture number, and the corresponding number in the process card, the current skill transfer operation batch will be terminated. If the workpiece clamping status, tool installation status, or XR positioning base station location changes during batch execution, the current skill transfer operation batch will be terminated.

[0007] Furthermore, S2 includes: Based on the installation relationship between the center point of the XR teaching tool and the XR controller, the pose of the XR controller is converted into the pose of the center point of the XR teaching tool, and then the workpiece coordinate trajectory frame is formed according to the correspondence between the XR spatial reference and the workpiece coordinate reference. If only one sampling sequence number is missing, and the valid positioning markers, simulated glue valve status, and acquisition button status before and after the missing position are consistent, a single-frame completion trajectory frame is formed between the valid trajectory frames before and after the missing position. Single-frame completion of the trajectory frame is not used as the boundary of the trajectory segment, skill anchor point, stable entry point, or stable exit point.

[0008] Furthermore, S2 also includes: The working area of ​​the workpiece is formed based on the sealing boundary, working surface, corner inlet, corner center, corner outlet, glue application start position and glue application end position in the three-dimensional model of the workpiece; Based on the position of the XR teaching tool center point relative to the workpiece's action area, the simulated valve state, and the direction of movement along the sealing boundary, the approach segment, action establishment segment, continuous operation segment, corner transition segment, and departure segment are formed sequentially. Register the following as skill anchor points: glue valve opening trajectory frame, glue valve closing trajectory frame, glue application start position, glue application end position, corner inlet, corner center, and corner outlet.

[0009] Furthermore, S3 includes: The joint solver generates a combination of joint positions for each trajectory frame, and the target industrial robot controller returns the joint range verification results, robot configuration code and singular state feedback. Starting from the joint state at the fragment entry point, connect the joint position combinations that satisfy the joint velocity limit, joint acceleration limit, robot configuration rules and singular state boundaries according to the trajectory frame order to form a candidate joint node chain; The candidate joint node chain covering all trajectory frames of the current trajectory segment is retained as a complete candidate joint sequence.

[0010] Furthermore, S3 also includes: Load the complete candidate joint sequence into the target industrial robot 3D model that is bound to the current skills transfer operation batch; According to the interpolation cycle of the target industrial robot controller, the intermediate joint states are unfolded between the joint positions corresponding to adjacent trajectory frames; The safety envelopes of the robot links, the glue gun, and the workpiece, fixture, and safety fence are overlapped and verified for the corresponding posture and intermediate joint states of the trajectory frame. If no overlap occurs, the collision state pass result is recorded. If overlap occurs, the collision state fail interval is recorded. The complete candidate joint sequence and collision verification results are then transmitted to S4.

[0011] Furthermore, S4 includes: For each complete candidate joint sequence, joint continuity state verification, joint velocity verification, joint acceleration verification, singular state verification, and collision state verification are performed respectively. When all the above verifications are passed, a continuous execution passed state is formed. The target tool center point pose of the target industrial robot is generated based on the complete candidate joint sequence, and the skill anchor point, nozzle distance, nozzle posture, adhesive strip center deviation, motion direction along the line, tool center point velocity of the corresponding trajectory segment, and adhesive valve status are verified. When all skill anchor point verifications and various process boundary verifications corresponding to the current trajectory segment pass, the skill remains in a passed state.

[0012] Furthermore, S4 also includes: When a complete candidate joint sequence exists and is simultaneously in both the continuous execution pass state and the skill hold pass state, the corresponding trajectory segment is registered as a directly transferable state; There is no complete candidate joint sequence that can be directly transferred. All skill anchors corresponding to the current trajectory segment are reachable and all skill anchors have passed the verification. There are five consecutive valid trajectory frames before and after the failed interval that have not undergone single-frame completion and instantaneous disturbance replacement. When the joint continuity state, singular state, collision state and skill retention state of the aforementioned valid trajectory frames have all passed and the robot configuration code is consistent, the corresponding trajectory segment is registered as a local reconstruction candidate state. Register the valid trajectory frame that is closest to the interval before the interval is not passed and meets the aforementioned conditions as a stable entry point, and register the valid trajectory frame that is closest to the interval after the interval is not passed and meets the aforementioned conditions as a stable exit point. If any of the following conditions are met: any skill anchor point corresponding to the current trajectory segment is unreachable, any skill anchor point fails verification, the current trajectory segment has a time base failure interval, or there is a lack of stable entry and stable exit points, the corresponding trajectory segment will be registered as unmigratable.

[0013] Furthermore, S5 includes: Read the stable entry point, stable exit point, failed interval, and failed type corresponding to the local reconstruction candidate state; For joint velocity and joint acceleration failures, the execution time of the failure interval is adjusted; for joint continuous state failures, the joint position combination between the stable inlet and stable outlet is reconnected. If any of the following conditions are not met after the aforementioned processing: continuous execution verification fails, singular state fails, collision state fails, or skill hold state fails, the stable entry, stable exit, skill anchor point, and glue valve states remain unchanged, and the candidate target tool center point pose is formed for the non-skill anchor point trajectory frames in the failed interval. The inverse kinematics solution, continuous verification and skill maintenance verification are performed sequentially on the center point pose of the candidate target tool. The first candidate joint sequence that passes the verification replaces the original unpassed interval, and the control trajectory is formed according to the interpolation cycle of the target industrial robot controller.

[0014] The skill anchor points described in this invention include key trajectory positions corresponding to workpiece positions and tool movements during industrial robot operations. The skill constraints include the relative relationship between the tool and the workpiece, tool posture, direction of action, speed of action, and tool working state. The skill anchor points and skill constraints can be used for skill transfer verification in gluing, welding, spraying, and grinding operations.

[0015] Compared with existing technologies, this invention provides a method for skill transfer in industrial robots based on XR teaching trajectories, which has the following beneficial effects: 1. The pose of the XR teaching tool is uniformly converted to the workpiece coordinate reference. Trajectory segments are divided according to tool state, workpiece position, and motion stage. Candidate joint sequences are established for each trajectory segment. Joint continuity, singular states, collision states, skill anchor points, tool-workpiece relative relationships, valve states, and continuous operation speed are jointly verified. This distinguishes between directly transferable, partially reconstructable, and non-transferable trajectory segments. This process solves the problem in existing technologies that rely solely on the reachability of discrete trajectory points to determine skill transfer, making it difficult to simultaneously determine whether the original taught skill is maintained and whether the target industrial robot can execute continuously. It reduces joint jumps, singular region movements, local collisions, and deviations in process interaction relationships.

[0016] 2. Establish a restricted transition trajectory for locally missed sections between stable entry and stable exit points, preserving skill anchor points, valve states, and verified preceding and following joint sequences. After successful re-verification, complete trajectory replacement and segment connection. This process avoids repeated teaching or overall replanning of the entire XR teaching trajectory, ensuring that local trajectory adjustments are constrained by both process boundaries and robot motion boundaries, thus improving skill transfer efficiency and control trajectory reliability between industrial robots with different kinematic structures. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the process of an industrial robot skill transfer method based on XR teaching trajectory according to the present invention. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example: Figure 1 A method for skill transfer in industrial robots based on XR teaching trajectories is presented, which involves performing the following steps in sequence: S1. Establish skill transfer operation batches and read the kinematic parameters, joint limitations, tool center point parameters, workpiece coordinate reference, process constraints and XR space reference of the target industrial robot. S2. Based on the correspondence between the XR spatial reference and the workpiece coordinate reference, the tool pose trajectory acquired by the XR terminal is converted to the workpiece coordinate reference, and the trajectory segments are divided according to the tool state, workpiece position and motion stage, and the skill anchor points and skill constraints of each trajectory segment are registered. S3. Determine the joint solver based on the inverse kinematics interface capability of the target industrial robot controller. Perform inverse kinematics solution on the tool pose of each trajectory frame according to the trajectory segment sequence. Form a joint position combination verified by the target industrial robot controller. Establish a candidate joint sequence based on the segment entry joint state, robot configuration and the continuity relationship of adjacent joints. S4. Verify the joint continuity, singularity and collision states of each trajectory segment based on the candidate joint sequence, and verify the skill anchor point, tool-workpiece relative relationship, valve state and continuous operation speed based on the tool pose of the target industrial robot, and register the migration state of the trajectory segment. S5. For trajectory segments that require local reconstruction, establish a restricted transition trajectory between consecutively passed intervals, re-execute the continuous execution verification and skill retention verification, connect the verified joint sequences in the order of trajectory segments, and generate the control trajectory of the target industrial robot.

[0020] S1 is specifically implemented as follows: Each skill transfer operation batch corresponds to one workpiece clamping, one XR teaching trajectory acquisition, and one target industrial robot control trajectory generation process. After the fixture controller interlocks and confirms the workpiece arrival signal and the clamping completion signal, it registers the start point of the skill transfer operation batch. After the target industrial robot controller receives the control trajectory and returns a program acceptance signal, it registers the end point of the skill transfer operation batch. During batch execution, if any of the workpiece arrival signal, clamping completion signal, or safety door closing signal fails, the current skill transfer operation batch is terminated, and the trajectory verification results generated before termination cannot be used for control trajectory generation.

[0021] When creating a skills transfer batch, the system reads the equipment number, robot model, controller model, link dimensions, joint axis directions, joint zero positions, joint range of motion, rated speed, permissible acceleration, robot configuration code, and controller interpolation cycle from the target industrial robot controller. Link dimensions, joint axis directions, and joint zero positions constitute kinematic parameters; joint range of motion, rated speed, and permissible acceleration constitute joint limitations.

[0022] The kinematic parameters are derived from the controlled parameter file delivered by the robot manufacturer and loaded by the current controller. Joint constraints are derived from the controller's current axis parameters and the tooled operation acceptance record. When the device number, robot model, and parameter version in the controlled parameter file match the controller's current values, the kinematic parameters are included in this batch; if there are inconsistencies, the batch is stopped, and the actual loaded file is checked before re-reading. The controller interpolation cycle uses the current value returned by the program's interface and is compared with the value recorded in the controller's communication manual. In this embodiment, the interpolation cycle is four milliseconds.

[0023] The tool center point parameters include the position and orientation of the glue gun nozzle tip relative to the robot flange. The target industrial robot, carrying the actual glue gun, makes the nozzle tip contact the same fixed calibration cone hole from different flange orientations, according to the number of orientations specified by the controller calibration program. The calibration inputs are the joint position and the physical position of the calibration cone hole corresponding to each contact orientation; the intermediate results are the nozzle tip position reflected by each contact orientation; and the output is the position and orientation of the nozzle tip relative to the robot flange.

[0024] The maximum spatial distance between the nozzle tip position reflected by each contact posture and the calibration result is used as the calibration discrete range. When establishing a skill transfer operation batch, the upper limit of the calibration discrete range is read from the current glue gun tool center point calibration acceptance procedure.

[0025] In this embodiment, the upper limit of the calibration discreteness is 0.5 mm. This value is based on the multi-pose fixed-point contact calibration test and the acceptance record of the target industrial robot with tool repeated positioning after the glue gun is repeatedly installed. When the calibration discreteness is no greater than 0.5 mm, the tool center point parameter is included in this batch; when it exceeds 0.5 mm, the glue gun mounting flange, nozzle fixing status and calibration cone hole are checked, the tool calibration is re-performed, and the original calibration result is invalidated.

[0026] A physical indicator rod is mounted on the front end of the XR teaching handle, with the endpoint of the physical indicator rod serving as the center point of the XR teaching tool. After the physical indicator rod is installed, six fixed-point contacts are performed using a fixed calibration cone hole. These six contacts correspond to different handle postures specified in the XR terminal calibration program. The calibration inputs are the position and posture of the XR controller and the physical position of the calibration cone hole during each contact, and the output is the position and posture of the physical indicator rod endpoint relative to the XR controller.

[0027] If the maximum discrete distance after the six contact positions are switched to the end of the physical indicator stick is no greater than 0.6 mm, the center point parameter of the XR teaching pendant is included in this batch; if it exceeds 0.6 mm, the installation status of the physical indicator stick is checked and recalibrated. The number of six contacts and the 0.6 mm boundary are derived from the XR teaching handle installation and acceptance procedures.

[0028] The workpiece coordinate reference is formed by a first reference hole, a second reference hole, and a third reference hole on the fixture. These three reference holes have fixed numbers on the fixture machining drawing and are not aligned. After the target industrial robot is equipped with a calibration probe, it sequentially contacts the three reference holes. The first reference hole forms the workpiece coordinate origin, the direction from the first reference hole to the second reference hole forms the first coordinate direction, and the three reference holes form the workpiece mounting plane. The third reference hole is located on the side specified in the fixture drawing to define the workpiece coordinate direction.

[0029] The three sets of measured distances between the three reference holes are checked against the corresponding dimensions in the fixture machining drawing. If the difference between any of the three distances is no greater than 0.8 mm, and the direction of the third reference hole is consistent with the direction on the drawing, the workpiece coordinate reference is ready for use. If any distance difference exceeds 0.8 mm, or if the third reference hole is in the opposite direction, check the workpiece locating pin, fixture clamping block, calibration probe, and workpiece clamping status, and re-establish contact with the three reference holes. The 0.8 mm difference is derived from the fixture installation acceptance record and repeated workpiece clamping tests.

[0030] The process constraints are read from the controlled process card corresponding to the current production task. Before reading, the workpiece number, process number, fixture number, robot number, and glue gun number are checked. If all match, the process card is used for the current skill transfer batch. The process constraints record the distance range between the nozzle tip and the workpiece's working surface, the angle range between the nozzle axis and the workpiece surface normal, the glue valve opening position, the glue valve closing position, repeated glue application conditions, and the first piece inspection boundary.

[0031] The process constraints also register the execution time adjustment boundaries according to the trajectory segment type. Among them, the continuous operation segment and the corner transition segment register the corresponding tool center point speed range, and the approach segment, action establishment segment and departure segment register the corresponding maximum allowable duration. The lower limit of speed and the maximum allowable duration in the aforementioned tool center point speed range are used to determine the allowable extension of the execution time of the corresponding trajectory segment.

[0032] The maximum permissible duration of the approach segment is defined by the time span from the start of the approach segment to the center point of the target tool entering the preparation area and effectively maintaining the approach direction. This time span is based on the target industrial robot's low-speed approach acceptance record with tool and the on-site cycle time verification record.

[0033] The maximum allowable duration of the action establishment segment is determined by the time span of the device timestamp of the trajectory frame corresponding to the start of the action establishment segment and the opening skill anchor point of the glue valve. It is formed based on the stability test, glue valve response test and on-site cycle time verification records after the nozzle distance, nozzle posture and glue strip center deviation enter the process range.

[0034] The maximum allowable duration of the departure segment is determined by the time span from the trajectory frame corresponding to the glue valve closing skill anchor point to the glue gun safety envelope reaching the safety boundary of the departure segment end. This time span is based on the target industrial robot's low-speed departure acceptance record with tools and the on-site cycle time verification record.

[0035] The aforementioned maximum allowable duration is the maximum equipment timestamp span allowed in the corresponding verification record under the condition that the joint continuous state, singular state, collision state and fragment skill constraints are all passed, and is written into the current process card version.

[0036] The tool center point speed range for corner transition segments is determined based on the radius of curvature of the corresponding corner, the nozzle attitude change range, and the verification results of the adhesive strip corner coverage. The process department adjusts the tool center point speed incrementally for different corner radii, reading the speed ranges when adhesive strip continuity, inner corner coverage, outer corner coverage, and nozzle attitude continuity are all achieved. The corner radius range and its corresponding tool center point speed range are then written into the current process card version. Corner transition segments do not directly use the tool center point speed range of continuous operation segments.

[0037] The process constraints also record the normal position adjustment step size, lateral position adjustment step size, nozzle attitude adjustment step size, execution time adjustment step size, and the maximum number of adjustment levels in each adjustment direction. The normal position adjustment step size, lateral position adjustment step size, and nozzle attitude adjustment step size are written as trajectory correction parameters into the current process card version, and are used to limit the single-level adjustment amount of the candidate target tool center point pose in the normal position, lateral position, and nozzle attitude directions, respectively.

[0038] The normal position adjustment step size is taken as the maximum value among the tool repeatability error, XR spatial position acceptance error, and nozzle distance inspection resolution of the target industrial robot; the lateral position adjustment step size is taken as the maximum value among the tool repeatability error, XR spatial position acceptance error, and adhesive strip center position inspection resolution of the target industrial robot; the nozzle attitude adjustment step size is taken as the maximum value among the XR terminal attitude acceptance error, glue gun repeat installation attitude error, and nozzle attitude inspection resolution; the execution time adjustment step size is taken as an integer multiple of the interpolation cycle of the target industrial robot controller, and the joint speed non-pass interval and joint acceleration non-pass interval are gradually extended according to the execution time adjustment step size.

[0039] In this embodiment, the controller interpolation period is four milliseconds, and the execution time adjustment step size is one controller interpolation period, i.e., four milliseconds. For the joint velocity and joint acceleration intervals that have not passed, the trajectory segment type, spatial trajectory length, original execution time, and execution time adjustment boundary registered in the current process card version of the interval are read.

[0040] When a tool center point speed lower limit is registered for a corresponding trajectory segment, the time obtained by dividing the spatial trajectory length of that interval by the tool center point speed lower limit is used as the maximum allowed execution time for that interval. When a tool center point speed lower limit is not registered for a corresponding trajectory segment, the maximum allowed duration registered for that trajectory segment is read, and the sum of the original execution times of all trajectory intervals outside the intervals not passed within the current trajectory segment is subtracted from the maximum allowed duration. The resulting time is used as the maximum allowed execution time for the intervals not passed.

[0041] The difference between the maximum allowed execution time and the original execution time is taken as the allowed increase in execution time; the integer obtained by dividing the allowed increase in execution time by the execution time adjustment step size and rounding down is taken as the maximum adjustment level of execution time. When the maximum allowed execution time is not greater than the original execution time, or when the maximum adjustment level of execution time is zero, candidate trajectories are not formed by extending the execution time.

[0042] If the current trajectory segment has neither a registered lower limit for the tool center point speed nor a registered maximum allowed duration, no time adjustment will be performed on the trajectory segment. Instead, the corresponding unpassed interval will be directly transferred to the non-skill anchor point target tool center point pose adjustment.

[0043] The aforementioned errors and inspection resolutions were obtained from the target industrial robot's tool-equipped operation acceptance record, XR equipment's spatial positioning acceptance record, glue gun's repeated installation acceptance record, and the first-piece process inspection procedure, respectively. The adjustment step size must not be less than the minimum change that the corresponding equipment and inspection method can stably identify.

[0044] The maximum adjustment level for each adjustment direction is determined based on the corresponding adjustment step size and the allowable range of the process. The cumulative adjustment amount for the normal position must not cause the nozzle distance to exceed the range registered on the process card, the cumulative adjustment amount for the lateral position must not cause the center deviation of the adhesive strip to exceed the first piece inspection boundary, and the cumulative adjustment amount for the nozzle posture must not cause the nozzle posture to exceed the range registered on the process card.

[0045] The current process card version also records the positive and negative arrangement order of each adjustment direction of the normal position, lateral position and nozzle posture. The arrangement order remains unchanged within the current skill transfer operation batch and is only used to adjust the center point pose sorting of candidate target tools with the same adjustment level, without changing the process allowable range of each adjustment direction.

[0046] The aforementioned adjustment step size, maximum adjustment level, and formation basis are all written into the current process card version and bound to the current skill migration operation batch; when the process card version changes, the restricted transition trajectory that has been formed but has not yet generated a control trajectory is invalidated.

[0047] For each non-skill anchor point trajectory frame that has not passed the interval, read the remaining amount from the current nozzle distance to the distance range boundary, the remaining amount from the current rubber strip center deviation to the center deviation boundary, and the remaining amount from the current nozzle attitude to the attitude range boundary.

[0048] In each adjustment direction, the minimum value among the remaining values ​​of all non-skill anchor point trajectory frames that have not passed through the interval is taken as the available adjustment margin for that adjustment direction. The integer obtained by dividing the available adjustment margin by the corresponding adjustment step size and rounding down is taken as the maximum adjustment level for that adjustment direction; when the calculation result is zero, the candidate target tool center point pose is not formed in that adjustment direction.

[0049] The maximum adjustment level is determined for each adjustment direction based on the corresponding process boundary, and the available adjustment margin of one adjustment direction is not used to replace the available adjustment margin of another adjustment direction.

[0050] In this embodiment, the distance between the nozzle tip and the workpiece's working surface ranges from 11 mm to 13 mm, the nozzle axis angle ranges from 27 degrees to 33 degrees, and the continuous operating speed ranges from 40 mm per second to 50 mm per second. These values ​​are derived from the process card issued by the process department after completing tests on the adhesive strip width, adhesive strip continuity, and curing quality. The process card is not read if any of the workpiece number, process number, fixture number, or adhesive gun number is inconsistent.

[0051] In this embodiment, the maximum allowable duration of the approach segment, action establishment segment, and departure segment are read from the current process card version and formed according to the aforementioned timing range and verification records. The maximum allowable duration of one trajectory segment is not used to replace the maximum allowable duration of another trajectory segment.

[0052] In this embodiment, the speed range of the tool center point for the corner transition segment is read from the current process card according to the corner radius interval, and is not directly replaced by the speed range of 40 mm to 50 mm per second for continuous operation segments. The speed range corresponding to each corner radius interval is formed by the rubber strip corner coverage test and the continuous change verification record of nozzle posture.

[0053] The XR space reference is formed by a solid calibration plate fixed on the fixture. The solid calibration plate has a first positioning recess, a second positioning recess, and a third positioning recess. The three positioning recesses are not on the same straight line, and their positions relative to the workpiece coordinate reference are derived from the calibration plate machining drawing and the fixture assembly drawing.

[0054] The operator uses the end of the physical indicator rod to sequentially contact three positioning recesses. After the end of the physical indicator rod enters a positioning recess, the first sampling frame with a continuously valid positioning mark is taken as the start of contact holding, and the contact holding is completed when the device timestamp span reaches one second; under normal sampling conditions of 90 Hz, the contact holding interval includes no less than 91 consecutive valid sampling frames.

[0055] Within the contact holding interval, the position and attitude of the endpoints of the physical indicator rod are read respectively. When the maximum spatial distance between each position within the interval and the average position of the interval is no greater than 0.6 mm, and the maximum attitude angle between any two valid sampling frames within the interval is no greater than 0.5 degrees, the XR contact position of the corresponding positioning concave point is recorded.

[0056] The one-second contact holding time and the zero-five-degree attitude stability boundary are derived from the XR space reference calibration procedure, the XR terminal static attitude sampling test, and the repeated contact acceptance record of the positioning concave point. They are used to exclude the instantaneous positioning results formed when the indicator rod has not yet made stable contact.

[0057] The first positioning concave point forms the origin of the XR space transformation. The direction from the first positioning concave point to the second positioning concave point forms the first direction of the XR space. The three positioning concave points form the XR space calibration plane, and the spatial direction is defined according to the side where the third positioning concave point is located. After all three positioning concave points have achieved effective contact, a correspondence is established between the XR space reference and the workpiece coordinate reference.

[0058] After establishing the correspondence, contact the three positioning recesses again in sequence. Convert the verification contact position to the workpiece coordinate reference and read the spatial distance between the converted position and the designed position of the corresponding positioning recess. If all three spatial distances are no greater than one millimeter, and the direction of the third positioning recess is consistent with the workpiece coordinate direction, the XR spatial reference is ready for use. If any spatial distance exceeds one millimeter, or the spatial direction is reversed, delete the current XR spatial reference, check the installation status of the XR positioning base station, physical calibration plate, and physical indicator rod, and then recalibrate. The one-millimeter boundary is derived from the XR equipment's nine-point spatial positioning acceptance record.

[0059] The skill transfer batch registration includes the robot parameter file version, tool center point calibration time, XR teaching tool center point calibration time, workpiece coordinate reference formation time, process card version, XR terminal configuration version, and XR spatial reference formation time. If any of the following changes during subsequent steps: robot parameter file, glue gun installation status, physical indicator rod installation status, fixture position, workpiece clamping status, process card content, or XR positioning base station position, the current skill transfer batch will be terminated, and a new skill transfer batch will be created from this step.

[0060] S2 is specifically implemented as follows: Before formal data acquisition, the fixture controller outputs a workpiece arrival signal and a clamping completion signal, the safety controller outputs a safety door closing signal, and the glue application controller enters the teaching simulation state. Trajectory acquisition is allowed only when all the above signals are valid, and the XR spatial reference formed by S1, the XR teaching tool center point parameters, the workpiece coordinate reference, and the process card are all within the current skill transfer batch. Receiving formal trajectory frames will stop if any signal fails, and data acquired before and after a signal failure must not be directly connected.

[0061] After the operator presses the acquisition button on the XR teaching handle, the XR terminal outputs the XR controller's position, attitude, device timestamp, acquisition button status, simulated glue valve status, and positioning validity marker according to the sampling sequence number. The simulated glue valve status is generated by the glue valve button on the XR teaching handle and corresponds to the current sampling sequence number. Based on the XR teaching tool center point parameters formed in S1, the XR controller's position and attitude are converted into the position and attitude of the physical indicator rod endpoint, with each sampling sequence number forming an XR trajectory frame. The physical indicator rod endpoint serves as the XR teaching tool center point, not using the operator's palm center or the XR controller shell center as substitutes.

[0062] When converting an XR trajectory frame to a workpiece coordinate reference, the inputs are the position and orientation of the XR teaching tool's center point in XR space, the XR contact positions of the three positioning recesses, the designed positions of the three positioning recesses in the workpiece coordinate reference, and the XR teaching tool's center point parameters. The intermediate objects are the corresponding records of the XR space origin, first direction, calibration plane, and the workpiece coordinate origin, first direction, and workpiece mounting plane. The output is the XR teaching tool's center point position and orientation under the workpiece coordinate reference. If the contact positions of the three positioning recesses are incomplete, the spatial directions are opposite, the XR teaching tool's center point parameters are invalid, or the positioning validity mark is invalid, a workpiece coordinate trajectory frame will not be formed.

[0063] The single-frame missing threshold for the current skill transfer batch is read from the XR terminal configuration version and registered as a sampling sequence number that is allowed to be completed during continuous trajectory acquisition. The single-frame missing threshold is only used to determine whether the trajectory missing segment enters the single-frame completion continuity verification, and is not used to relax the verification conditions for valid positioning markers, simulated valve status, acquisition button status, position continuity, and attitude continuity.

[0064] If only one sampling sequence number is missing during trajectory acquisition, and the valid positioning markers before and after the missing position are both valid, the simulated glue valve status is consistent, and the acquisition button status is consistent, then two valid trajectory frames before and after the missing position are read.

[0065] The normal sampling cycle acceptance range of the XR terminal is read from the XR terminal interface configuration and device acceptance record. When the sampling sequence numbers of two valid trajectory frames before and after the missing position differ by two, and the device time difference between the two is within the acceptance range of two normal sampling cycles, the single frame completion continuity verification is initiated.

[0066] A single-frame trajectory completion frame is allowed when the change in position is no greater than the allowable displacement formed by the actual equipment time difference based on the current operating speed, and the included angle of attitude is no greater than the attitude change boundary corresponding to the actual equipment time difference. The attitude change boundary corresponding to the actual equipment time difference is formed according to the number of normal sampling periods contained in the single-cycle instantaneous disturbance attitude boundary and the actual equipment time difference.

[0067] Under the condition of normal sampling at 90 Hz and a difference of two sampling sequence numbers between the missing positions, the device time difference between two consecutive valid trajectory frames corresponds to two normal sampling periods, and the attitude change boundary is twice the single-period instantaneous disturbance attitude boundary. In this embodiment, the single-period instantaneous disturbance attitude boundary is 1.2 degrees, and the corresponding attitude change boundary is 2.4 degrees.

[0068] The location of the missing position is interpolated isochronously based on the positions of the two preceding and following valid trajectory frames and the device timestamp. The pose of the missing position is formed into an intermediate pose along the rotation direction with the smaller angle between the preceding and following poses, and a single-frame completion mark is recorded. The single-frame completion trajectory frame is only used to maintain temporal continuity and is not used as the start point, end point, skill anchor point, stable entry point, or stable exit point of a trajectory segment.

[0069] If two consecutive sampling sequence numbers are missing, two consecutive trajectory frames of a valid positioning marker are invalid, a trajectory frame is missing due to a change in the valve's state, or the preceding and following trajectory frames cannot form a continuous position and attitude, the corresponding acquisition segment is registered as an incomplete acquisition state. Trajectory frames before and after an incomplete acquisition segment are not connected. The operator must re-acquire data starting from the skill anchor point preceding the missing segment. If a skill anchor point has not yet been formed, re-acquiring data must start from the current acquisition starting point.

[0070] Valid workpiece coordinate trajectory frames are arranged according to their sampling sequence. Among three adjacent valid trajectory frames, if the middle trajectory frame forms a single-cycle reverse offset relative to the preceding and following trajectory frames, with a position offset not exceeding 1.2 mm and an attitude offset not exceeding 1.2 degrees, and the motion directions of the preceding and following trajectory frames are consistent, the middle trajectory frame is registered as an instantaneous disturbance trajectory frame. The position of the instantaneous disturbance trajectory frame is taken as the midpoint of the time between the preceding and following positions, and the attitude forms a substitute attitude along the continuous change direction of the preceding and following attitudes. If the reverse offset lasts for more than two sampling cycles, or if the middle trajectory frame is at a position simulating a change in the state of a glue valve, the original trajectory frame is retained. The position and attitude boundaries are derived from static sampling experiments with XR equipment and manual straight-line teaching experiments.

[0071] The position boundary of 1.2 mm and the attitude boundary of 1.2 degrees for a single-cycle instantaneous disturbance are derived from the static sampling test of the XR equipment and the manual straight-line teaching test. When a single frame is missing, spanning two normal sampling cycles, the corresponding position change boundary is formed according to the current operating speed and the actual equipment time difference, and the corresponding attitude change boundary is formed according to twice the single-cycle instantaneous disturbance attitude boundary.

[0072] The workpiece application area is formed based on the 3D model and process card of the controlled workpiece corresponding to the current batch. The workpiece 3D model provides the sealing boundary, workpiece application surface, surface normal, corner inlet, corner center, corner outlet, glue application start position, and glue application end position. The process card provides the allowable deviation of the glue strip center, nozzle distance range, and nozzle posture range. In this embodiment, the continuous glue application area is defined as the space range centered on the sealing boundary, with a lateral offset of no more than 1.5 mm along the workpiece application surface, and the distance between the nozzle tip and the workpiece application surface being between 11 mm and 13 mm. The 1.5 mm is derived from the first piece glue strip position inspection boundary.

[0073] An operation preparation area is set outside the workpiece's operating area. This preparation area extends 30 mm from the sealing boundary towards the tool approach side. This 30 mm is derived from low-speed teaching verification records. Within this range, the tool approach direction and tool posture are restricted; outside this range, the operator can adjust the teaching handle position. The XR teaching tool's center point approaches the sealing boundary for five consecutive valid trajectory frames. If the distance from the tool's center point to the sealing boundary decreases overall across these five trajectory frames, and no reverse offset exceeds 1.2 mm, the approach direction is considered valid. Under 90 Hz sampling conditions, the sampling time interval between adjacent trajectory frames is approximately 11.11 milliseconds, and the device timestamp span from the first to the fifth trajectory frame for five consecutive valid trajectory frames is approximately 44.44 milliseconds. The setting of five consecutive valid trajectory frames is derived from short-term positioning fluctuation tests under 90 Hz sampling conditions.

[0074] The trajectory segments are formed according to the following boundaries. The first valid trajectory frame after the start of acquisition is taken as the starting point of the approach segment. When the center point of the XR teaching tool enters the action preparation area and maintains a valid approach direction for five consecutive valid trajectory frames, the first trajectory frame among the five trajectory frames is taken as the ending point of the approach segment and the starting point of the action segment.

[0075] Within the established action segment, the simulated glue valve remains closed, and the center point of the XR teaching tool continues to move towards the sealing boundary. Once the nozzle tip enters a distance range of 11 to 13 millimeters, the nozzle axis enters an attitude range of 27 to 33 degrees, and the projected position of the tool center point enters the allowable deviation range of the glue strip center, this position is maintained continuously for 200 milliseconds. During this holding period, the effective positioning marker remains valid, allowing the simulated glue valve to change from closed to open. The device timestamp span from the first to the nineteenth consecutive effective trajectory frames is 200 milliseconds. Therefore, maintaining the aforementioned condition for 200 milliseconds continuously means that at least nineteen consecutive effective trajectory frames satisfy the nozzle distance, nozzle attitude, glue strip center deviation, and effective positioning conditions. The 200-millisecond holding time is derived from the glue valve response test and process control margin.

[0076] If the simulated glue valve opens prematurely, is held for insufficient time, or exceeds the range in distance or posture, the action setup segment is recorded as a failed teaching demonstration, and the action setup segment is re-acquired. The first valid trajectory frame of the simulated glue valve changing from closed to open is used as the end point of the action setup segment and the start point of the first continuous operation segment, and the glue valve opening skill anchor point is recorded.

[0077] Within a continuous operation segment, the simulated glue valve remains open. The center point of the XR teaching tool in adjacent valid trajectory frames is projected onto the workpiece sealing boundary. When the projected position moves forward sequentially according to the glue application direction registered on the process card, the recorded movement direction along the line is valid. If the projected position does not move forward for five consecutive valid trajectory frames, reverses direction, or crosses the sealing boundary section specified on the process card, the current continuous operation segment is recorded as a direction failure. The nozzle endpoint distance, nozzle axis orientation, glue strip center deviation, and movement speed along the line are recorded frame-by-frame according to the range specified on the process card.

[0078] In the 3D model of the workpiece, the straight sealing section forms a continuous operation segment, and the area between the corner inlet and corner outlet forms a corner transition segment. When the projection position of the center point of the XR teaching tool first reaches or crosses the corner inlet, the current continuous operation segment ends and the corner transition segment begins; when the projection position reaches the corner center, the corner center skill anchor point is registered; when the projection position reaches or crosses the corner outlet, the corner transition segment ends and the next continuous operation segment begins. Within the corner transition segment, the simulated glue valve remains open, the nozzle tip remains within the workpiece's action area, and the nozzle posture continuously changes along the corner direction. The positions of the corner inlet, corner center, and corner outlet are derived from the controlled 3D model of the workpiece and are not generated temporarily based on the trajectory shape.

[0079] The first valid trajectory frame of the simulated glue valve changing from open to closed is registered as the glue valve closing skill anchor point. When the glue valve closing skill anchor point is located in the glue application end area specified in the process card, the current continuous operation segment ends and the segment begins to leave. If the glue valve closes before the glue application end area, or if the glue valve remains open after the tool crosses the glue application end area, the current operation segment is registered as glue valve status failure, and a new acquisition is performed from the previous skill anchor point.

[0080] Within the departure segment, the simulated glue valve remains closed, and the center point of the XR teaching tool moves away from the workpiece's operating area along the outer direction of the workpiece. When the minimum distance between the safety envelope of the tool and physical indicator rod and the safety envelope of the workpiece and fixture reaches 30 mm, and remains constant for five consecutive valid trajectory frames, the fifth valid trajectory frame is taken as the endpoint of the departure segment. The 30 mm figure is derived from low-speed departure tests and on-site teaching safety procedures. The operator releases the acquisition button after reaching the endpoint of the departure segment, completing the acquisition of this teaching trajectory.

[0081] Each trajectory segment is registered with segment number, segment type, starting trajectory frame number, ending trajectory frame number, workpiece action area, simulated glue valve status, and corresponding process card version. Glue valve opening trajectory frame, glue valve closing trajectory frame, glue application start position, glue application end position, corner inlet, corner center, and corner outlet are registered as skill anchor points. Workpiece position skill anchor points use valid trajectory frames where the XR teaching tool's center point projection first reaches or crosses the corresponding drawing position; glue valve status skill anchor points use valid trajectory frames where the simulated glue valve status first changes. If a workpiece position skill anchor point and a glue valve status skill anchor point are not located in the same area allowed by the process card, the current trajectory segment is registered as a teaching failure.

[0082] Skill constraints are used to describe the relative positional relationship between the tool and the workpiece, the tool's posture relationship, the direction of action, the speed of action, and the conditions for maintaining the tool's working state during the execution of the trajectory segment. The specific constraint content is registered according to the trajectory segment type and the current process card version.

[0083] The approach segment registers the galvanic valve closing, approach direction, and collision-prohibited boundary; the action establishment segment registers the tool distance range, tool posture range, entry direction, and holding time before the galvanic valve opens; the continuous operation segment registers the galvanic valve opening, galvanic strip center deviation, tool distance range, tool posture range, direction of movement along the line, and operating speed range; the corner transition segment registers the corner action area, galvanic valve status, continuous posture change, tool center point speed range, and corner exit direction; the departure segment registers the galvanic valve closing position, exit direction, and end safety boundary. Trajectory segments that have completed registration and have not formed incomplete acquisition or failed teaching states are transmitted to S3 in trajectory frame order.

[0084] This embodiment uses an industrial robot's adhesive application operation to illustrate the formation and verification process of skill anchors and skill constraints, but skill anchors and skill constraints are not limited to adhesive application operations. In industrial robot welding operations, skill anchors can correspond to the welding torch's arc-starting position, arc-extinguishing position, weld start point, weld end point, and weld corner position, while skill constraints can correspond to the distance between the welding torch and the workpiece, the welding torch's posture, welding direction, welding speed, and arc-starting state. In industrial robot spraying operations, skill anchors can correspond to the spray torch's open position, closed position, spraying area entrance, spraying area exit, and path turning point, while skill constraints can correspond to the spray torch distance, spray torch posture, spraying direction, spraying speed, and spray torch start / stop state. In industrial robot grinding operations, skill anchors can correspond to the grinding tool's contact position, departure position, grinding area boundary, and workpiece contour turning point, while skill constraints can correspond to the tool posture, tool-workpiece contact relationship, grinding direction, feed speed, and grinding tool working state.

[0085] The aforementioned welding, spraying, and grinding operations are all divided into trajectory segments according to the tool's working state, the workpiece's position, and the motion stage. The tool's start and stop positions, the workpiece's position, and the position of the process action, which cannot be changed due to differences in robot kinematics, are registered as skill anchor points. The relative relationship between the tool and the workpiece, the tool's posture, the direction of action, the speed of action, and the tool's working state are registered as skill constraints. Subsequently, candidate joint sequences are formed according to S3 to S5, and continuous execution verification and skill retention verification are performed. Directly transferable states, locally reconfigurable candidate states, and non-transferable states are registered.

[0086] S3 is specifically implemented as follows: The industrial control computer processes the trajectory segments sequentially formed in S2, reading the segment type, trajectory frame number range, device timestamps for each trajectory frame, XR teaching tool center point position and attitude, simulated glue valve status, skill anchor points, and workpiece coordinate reference number. The workpiece coordinate reference number should match the current workpiece coordinate number written to the target industrial robot controller in S1, and the tool center point parameter should match the tool number of the glue gun currently loaded on the target industrial robot. If any number is inconsistent, the inverse kinematics interface is not invoked, and the current skill transfer batch returns to S1 to re-verify the workpiece coordinate reference and tool center point parameters.

[0087] When the target industrial robot controller can form multiple joint position combinations for the same target tool center point pose, the target industrial robot controller is used as the joint solver. When the target industrial robot controller does not provide multiple joint position combinations, the industrial control computer is used as the joint solver. The industrial control computer forms joint position combinations based on kinematic parameters consistent with the current loaded version of the controller, and the target industrial robot controller verifies the joint range, robot configuration and singular state.

[0088] The industrial control computer sends the XR teaching tool's center point position and orientation under the workpiece coordinate reference, the corresponding device timestamp, the workpiece coordinate reference number, and the glue gun tool's center point parameters to the target industrial robot controller according to the trajectory frame sequence number. Based on the currently loaded kinematic parameters, joint constraints, and tool installation relationships, the target industrial robot controller returns the joint position combination that allows the glue gun tool's center point to reach the corresponding pose, along with feedback on each joint range, robot configuration code, and singular state feedback.

[0089] The robot configuration rules are jointly defined by the robot configuration code returned by the target industrial robot controller, the wrist rotation state, and the joint solution branch number. The robot configuration code is used to distinguish the shoulder direction, elbow direction, and wrist rotation state; the joint solution branch number is registered separately by the joint solver for each set of joint position combinations under the same trajectory frame, and is used to distinguish different inverse kinematics solution branches corresponding to the pose of the same target tool center point. Each set of joint position combinations corresponds one-to-one with a robot configuration code and a joint solution branch number, and together they participate in the verification of the continuity of robot configuration between adjacent trajectory frames.

[0090] The singularity feedback uses the singularity region determination result currently active on the target industrial robot controller. The determination boundary is derived from the robot manufacturer's parameter file and on-site tool-operated acceptance records, and is not separately set by the industrial control computer. When the controller returns to the normal, adjacent, or prohibited states, the joint position combination corresponding to the normal state enters the candidate screening; the joint position combination corresponding to the adjacent state is retained and a singular proximity marker is registered; and the joint position combination corresponding to the prohibited state does not enter the candidate joint nodes. The singular proximity marker is passed to S4 along with the corresponding joint position combination and serves as the basis for determining whether a singular state fails.

[0091] The number of joint position combinations returned in each trajectory frame is determined by the mechanical structure of the target industrial robot, the current tool pose, and joint constraints, and is not preset to a fixed number. When the target industrial robot controller returns multiple sets of valid joint position combinations, each set of joint position combinations is retained until the continuity of the trajectory segment is verified, and no single set is selected based solely on the joint changes in a single trajectory frame.

[0092] When the current trajectory segment is an approach segment, the segment entry joint state adopts the robot preparation position registered in the current batch of the target industrial robot. The robot preparation position comes from the on-site debugging program. When the robot is in this position, the robot links and glue gun are all outside the safety envelope of the workpiece, fixture, and safety fence. Under the condition that the tool installation state and fixture position have not changed, the robot preparation position enters the current skill transfer operation batch after a low-speed idling run.

[0093] When the current trajectory segment is located after an adjacent segment, the segment's entry joint state reads the exit candidate state preserved from the previous trajectory segment. The exit candidate state records the joint position combination of the last valid trajectory frame of the previous trajectory segment, the robot configuration code, the target tool center point pose, the simulated glue valve state, and the device timestamp. If any of these elements are missing, no candidate joint sequence is established for the current trajectory segment.

[0094] For the first trajectory frame of the current trajectory segment, check whether each set of joint position combinations returned by the controller can be continuously reached from the segment entry joint state. The continuous reach conditions are: each joint is within the motion range registered by the controller; the joint position changes conform to the rated speed and allowable acceleration between the corresponding time of the segment entry joint state and the device timestamp of the current trajectory frame; the robot configuration conforms to the robot configuration rules of the current trajectory segment; and the controller does not return a singular prohibition state. Joint position combinations that meet the conditions, together with the current trajectory frame number, robot configuration code, and singular state feedback, form the first layer of candidate joint nodes.

[0095] For subsequent trajectory frames, read the sampling sequence number and device timestamp of the current trajectory frame and the previous trajectory frame. When the sampling sequence numbers are consecutive and the device time difference is greater than zero, verify the joint velocity and joint acceleration between adjacent joint position combinations based on the actual device time difference.

[0096] When the current trajectory frame is a single-frame completion trajectory frame formed by S2, the continuity relationship is verified according to the sampling sequence number and device timestamp registered in the completion trajectory frame. If the sampling sequence number is not continuous and a single-frame completion trajectory frame has not been formed, the device time difference is zero, or the device timestamp is in reverse order, the corresponding connection interval is registered as a time reference interval that has not been passed, and candidate joint node connections are not established across this interval.

[0097] A set of joint positions in the current trajectory frame will only enter the next layer of candidate joint nodes if it meets the following conditions with at least one set of candidate joint nodes in the previous trajectory frame: none of the joint positions have exceeded their range of motion; changes in adjacent joint positions have not exceeded the allowable joint changes within the corresponding time difference; changes in joint velocity have not exceeded the allowable acceleration registered by the controller; changes in robot configuration code, wrist flip state, and joint branch number conform to the robot configuration rules of the current trajectory segment; and the controller has not returned to a singular prohibition state. Each candidate joint node also registers the previous candidate joint node that it can connect to, thus forming a chain of candidate joint nodes extending in the order of the trajectory frames.

[0098] Within the action setup segment, continuous operation segment, and corner transition segment, the robot configuration code remains consistent, and switching between shoulder direction, elbow direction, and wrist rotation state is not permitted. During the approach segment, if the XR teaching tool's center point has not yet entered the action preparation area formed by S2, and the minimum distance between the robot links and the glue gun and the workpiece / fixture safety envelope is not less than 30 mm, one continuous robot configuration switch is allowed. After the configuration switch is completed, the remaining trajectory frames of the approach segment retain the robot configuration code after the switch; any subsequent robot configuration change is registered as an unauthorized configuration switch.

[0099] In the departure segment, when the glue gun has left the workpiece's working area, the simulated glue valve is closed, and the safety distance is not less than 30 mm, a continuous robot configuration switch is allowed. After the configuration switch is completed, the remaining trajectory frames in the departure segment retain the robot configuration code after the switch; if another robot configuration change occurs, it is registered as an unauthorized configuration switch.

[0100] When a candidate joint node chain extends to the last trajectory frame of a trajectory segment, it forms a complete candidate chain. Candidate joint node chains that do not cover all trajectory frames of a segment are not considered candidate joint sequences.

[0101] Within the current trajectory segment, the industrial control computer registers the candidate joint sequence numbers sequentially according to the order in which the complete candidate chains are formed. The formation order of the complete candidate chains is based on the order of the joint position combinations output by the joint solver and the predecessor connection order of the candidate joint nodes, and remains unchanged within the current skill transfer operation batch.

[0102] The candidate joint sequence number consists of a trajectory segment number and a sequence number within the segment. Within the same trajectory segment, the sequence number increases sequentially from the beginning. The original numbering is used for candidate joint sequences during S4 verification, S5 local reconstruction, and cross-segment connections. For new candidate joint sequences formed during local reconstruction, a reconstruction sequence number is added after the original number. The candidate joint sequence number is only used for unique selection when trajectory aggregation, verification result association, and multiple connections pass; it is not used as a basis for evaluating continuous execution performance or skill retention performance.

[0103] When multiple complete candidate chains exist, candidate joint sequences are selected in the following order: first, complete candidate chains whose robot configuration has not changed are retained; second, complete candidate chains without singular neighbor markers are retained; third, the remaining distances between each joint position and the corresponding joint range of motion boundary are compared, and the complete candidate chain with the larger minimum remaining distance is retained. If more than two complete candidate chains still exist after the above selection, all corresponding complete candidate chains are retained until S4, where S4 verifies them in conjunction with the collision state and skill retention state.

[0104] The remaining distance between each joint position and the boundary of its range of motion is the smaller of the distances from the current joint position to the upper and lower limits of the joint, respectively. This value is used only for filtering among multiple complete candidate chains and does not change the joint constraints registered by the target industrial robot controller. Complete candidate chains are registered with candidate joint sequence numbers in the order they were formed.

[0105] If any trajectory frame fails to return a joint position combination within the joint's range of motion, the corresponding trajectory frame is registered as an unreachable trajectory frame. If a trajectory frame contains valid joint position combinations, but none of these combinations can be continuously connected to the candidate joint nodes in the previous layer, or if the robot configuration code does not meet the configuration rules registered for the current trajectory segment, the corresponding trajectory frame is registered as a trajectory frame where joint continuity has not been achieved. If the target industrial robot controller returns a singular prohibited state for all joint position combinations, the corresponding trajectory frame is registered as a trajectory frame where a singular state has not been achieved.

[0106] When the joint velocity corresponding to an adjacent trajectory frame exceeds the joint velocity limit registered by the target industrial robot controller, the corresponding interval is registered as the joint velocity not passed interval; when the joint acceleration corresponding to an adjacent trajectory frame exceeds the joint acceleration limit registered by the target industrial robot controller, the corresponding interval is registered as the joint acceleration not passed interval; when the device time difference between adjacent trajectory frames does not meet the time continuity boundary registered by the current XR acquisition configuration, the corresponding interval is registered as the time reference not passed interval.

[0107] The aforementioned trajectory frames and intervals respectively register the trajectory frame number, target tool center point pose, joint position combination returned by the controller, previous valid joint state, and failure type. When multiple failure types are generated simultaneously in the same interval, each failure type is written into the failure type list of that interval.

[0108] Once the complete candidate joint sequence is formed, it is loaded into the target industrial robot 3D model bound to the current skills transfer batch. The target industrial robot 3D model uses the link dimensions, joint axis positions, and current controller installation parameters provided by the robot manufacturer; the glue gun model uses the solid measurement dimensions and the tool center point parameters generated in S1; the workpiece, fixture, and safety fence models use controlled 3D drawings verified against on-site dimensions. The model number, model version, and on-site installation number should all be consistent with the information registered in S1.

[0109] The robot linkage safety envelope is formed using the manufacturer's collision model, while the glue gun safety envelope extends outward by five millimeters from its solid shape. This extension is derived from the current target industrial robot's tool-carrying collision safety acceptance record. This record integrates the target industrial robot's tool-carrying repetitive positioning error, glue gun repetitive installation error, and fixture installation error, and the formation rules and extension amount are bound to the current skill transfer operation batch. The workpiece and fixture safety envelopes are formed according to the controlled 3D model and on-site installation acceptance dimensions. If the model version is inconsistent, the tool installation status changes, the fixture position changes, or the workpiece arrival signal fails, the current collision verification is not performed, the current skill transfer operation batch is terminated, and the process returns to S1.

[0110] Collision verification checks not only the robot's posture corresponding to each XR trajectory frame but also the motion between adjacent trajectory frames. For two adjacent joint positions in a candidate joint sequence, the intermediate joint state is unfolded according to the target industrial robot controller's four-millisecond interpolation cycle, driving the target industrial robot's 3D model to move continuously. Within any interpolation cycle, if the safety envelope of the robot link or the glue gun overlaps with the safety envelope of the workpiece, fixture, or safety fence, the corresponding interpolation position and the XR trajectory frames before and after it are registered as a collision-failed interval. If only the endpoints of the trajectory frames do not overlap, but adjacent endpoints overlap, this is also registered as a collision-failed interval.

[0111] After processing the current trajectory segment, the complete candidate joint sequence, segment exit candidate state, unreachable trajectory frames, trajectory frames that failed to pass in continuous joint states, trajectory frames that failed to pass in singular states, time reference intervals that failed to pass, joint velocity intervals that failed to pass, joint acceleration intervals that failed to pass, and collision state intervals that failed to pass are passed to S4. If the current trajectory segment does not have a complete candidate joint sequence, the first failed position and the last valid joint state are still passed to S4, and the joint positions before and after the missing trajectory frames are not directly used to form a replacement connection.

[0112] S4 is specifically implemented as follows: The industrial control computer reads the complete candidate joint sequence, segment entry joint state, segment exit candidate state, unreachable trajectory frames, trajectory frames that failed to pass in continuous joint states, trajectory frames that failed to pass in singular states, time reference intervals that failed to pass, joint velocity intervals that failed to pass, joint acceleration intervals that failed to pass, and collision state intervals that failed to pass, transmitted by S3. When there are multiple complete candidate joint sequences for the current trajectory segment, continuous execution verification and skill maintenance verification are performed on each complete candidate joint sequence separately, without deleting any complete candidate joint sequence before verification.

[0113] If the current trajectory segment contains an interval where the time reference has not been passed, the joint position combination reconnection, execution time adjustment, and candidate target tool center point pose adjustment will not be performed on that interval. Instead, the current trajectory segment will be registered as non-transferable and the local reconstruction of that trajectory segment will be stopped.

[0114] The nearest skill anchor point before the time base passes through the interval is used as the starting point for re-collection, and the nearest skill anchor point after the interval is used as the ending point for re-collection. If there is no skill anchor point before the interval passes through, the starting point of the current trajectory segment is used as the starting point for re-collection, and if there is no skill anchor point after the interval passes through, the ending point of the current trajectory segment is used as the ending point for re-collection.

[0115] Joint continuity verification is performed in the order of trajectory frames. Each trajectory frame within a trajectory segment has candidate joint positions, each joint position is within the motion range registered by the controller, the joint positions of adjacent trajectory frames can be continuously connected, the robot configuration change conforms to the configuration rules registered for the current trajectory segment, and the joint state at the segment entry can be continuously connected with the joint state at the exit of the previous trajectory segment. In such cases, the joint continuity of the current complete candidate joint sequence is registered as passed.

[0116] If any of the following occurs: an unreachable trajectory frame, a joint continuity state failing to pass a trajectory frame, or an unauthorized robot configuration switch, the joint continuity state is registered as failed. If a joint velocity fails to pass an interval, the joint velocity fails; if a joint acceleration fails to pass an interval, the joint acceleration fails. The aforementioned failure results are recorded as the first failed position, the last failed position, the previous valid joint state, the next valid joint state, and the failure type, respectively. When a failed position is located between two adjacent trajectory frames, the corresponding connecting interval is used as the failed interval; the failed interval is not simplified to a single trajectory frame.

[0117] Singular states are identified using the singular state feedback returned by the target industrial robot controller for the current complete candidate joint sequence. If all trajectory frames are in a normal state, the singular state is registered as passed; if either a singular proximity marker or a singular prohibition state exists, the singular state is registered as failed, and the corresponding failed singular state interval, starting trajectory frame, ending trajectory frame, robot configuration code, joint position, and controller feedback type are recorded. The singular state boundaries are based on the robot manufacturer's parameter file read by S1 and the on-site tooled operation acceptance records; the industrial control computer does not further relax the controller boundaries.

[0118] The collision status is verified based on the collision status failure interval formed by S3. If the robot posture corresponding to the trajectory frame and the motion processes unfolded according to the controller interpolation cycle between adjacent trajectory frames do not result in overlapping safety envelopes, the collision status is registered as passed. If the safety envelopes of the robot link, the glue gun, and the workpiece, fixture, or safety fence overlap at any interpolation position, the collision status is registered as failed, and the collision status failure interval, the overlapping robot link, the glue gun location, and the environmental object are recorded.

[0119] When the joint continuity state, joint velocity, joint acceleration, singular state, and collision state all pass, the current complete candidate joint sequence forms a continuous execution passed state; when there are verification failure results, the corresponding failure type, failure interval, and verification result are written into the failure type list, and the continuous execution failed state and continuous execution pending reconstruction state will no longer be formed.

[0120] After completing continuous execution verification, the current complete candidate joint sequence is loaded into the target industrial robot model bound to the current skill transfer batch. Based on the joint positions, robot link dimensions, and glue gun tool center point parameters corresponding to each trajectory frame, the model outputs the target industrial robot's target tool center point position and orientation at each trajectory frame. The target tool center point pose is used to determine the tool interaction relationship of the transfer trajectory on the target industrial robot; it is not directly replaced by the XR teaching tool center point pose.

[0121] Skill anchor point verification is conducted according to the anchor point types registered in S2. The glue application start position, glue application end position, corner entry, corner center, and corner exit are workpiece position skill anchor points. The candidate joint positions corresponding to workpiece position skill anchor points must exist, and the projection position of the target tool center point on the workpiece's working surface must fall within the allowable anchor point area jointly defined by the workpiece's 3D model and the process card.

[0122] The valve opening and closing trajectory frames are classified as process action skill anchor points. The target tool center point corresponding to the valve opening skill anchor point should be within the nozzle distance range, nozzle posture range, and allowable deviation range of the adhesive strip center, and should remain continuously for 200 milliseconds before opening. The holding time is calculated based on the device timestamp of the continuous valid trajectory frames; under normal sampling conditions at 90 Hz, the number of continuous valid trajectory frames should be no less than nineteen. The target tool center point corresponding to the valve closing skill anchor point should be within the adhesive application end area registered on the process card. If the candidate joint position is missing, the target tool center point does not enter the allowable anchor point area, or the valve action is inconsistent with the anchor point position, the skill anchor point verification and registration will fail.

[0123] The relative relationship between the tool and the workpiece is determined based on the target tool's center point pose, the workpiece's working surface, and the sealing boundary. The nozzle distance is the distance from the nozzle tip along the normal to the current workpiece's working surface to the workpiece's working surface. The nozzle orientation is the angle between the nozzle axis and the normal to the current workpiece's working surface. The rubber strip center deviation is the lateral distance from the projection position of the nozzle tip on the workpiece's working surface to the sealing boundary. The direction of movement along the line is determined by the sequential order of the projected positions of the center points of adjacent target tools on the sealing boundary. The continuous operating speed is determined by the forward movement distance of the projected positions of the center points of adjacent target tools along the sealing boundary and the corresponding equipment time difference.

[0124] Within the approach segment, the glue valve remains closed, and the target industrial robot and glue gun must not enter the safety envelope of the workpiece and fixture. The segment exit should reach the action establishment segment inlet. Within the action establishment segment, the nozzle distance is 11 to 13 millimeters, the nozzle orientation is 27 to 33 degrees, and the glue strip center deviation is no more than 1.5 millimeters. After the aforementioned conditions are maintained continuously for 200 milliseconds, the glue valve state changes from closed to open.

[0125] Within a continuous operation segment, the glue valve remains open, the nozzle distance is between 11 and 13 mm, the nozzle orientation is between 27 and 33 degrees, the center deviation of the glue strip is no more than 1.5 mm, the center point of the target tool moves along the direction registered on the process card, and the continuous operation speed is between 40 and 50 mm per second. If any trajectory frame exceeds the corresponding range, the registered tool's action has not passed the trajectory frame; if consecutive trajectory frames collectively exceed the corresponding range, the registered tool's action has not passed the interval.

[0126] Within the corner transition segment, the glue valve remains open, the nozzle tip remains within the corner's action area, and the nozzle distance, nozzle posture, and glue strip center deviation remain within the allowable range of the process card. The nozzle posture of adjacent trajectory frames should change continuously along the workpiece corner direction, and there should be no single-cycle reverse change exceeding the S2 instantaneous disturbance boundary. The target tool center point velocity of the corner transition segment should be within the tool center point velocity range corresponding to the current corner radius. The direction of movement of the target tool center point at the corner exit should be consistent with the process direction of the next continuous operation segment.

[0127] Upon exiting the segment, the glue valve closes before the target tool's center point leaves the workpiece's working area, and the glue gun withdraws along the outer side of the workpiece. At the end of the segment, the minimum distance between the glue gun's safety envelope and the workpiece and fixture's safety envelope is not less than thirty millimeters.

[0128] When all skill anchors corresponding to the current trajectory segment are reachable, all skill anchors pass verification, the relative relationship between the tool and the workpiece conforms to the process boundary of the corresponding trajectory segment, and the state of the glue valve is consistent with the stage of the trajectory segment, the current complete candidate joint sequence formation skill remains in the pass state.

[0129] If any of the following verifications of a non-skill anchor point trajectory frame fails: nozzle distance, nozzle posture, rubber strip center deviation, direction of movement along the line, tool center point speed of the corresponding trajectory segment, or corner posture continuity, the skill hold status is recorded as failing, and the corresponding failing interval, failing item, and process boundary are also recorded.

[0130] If any of the following conditions are met for the current trajectory segment: missing, unreachable, or failed verification, the skill retention status will not be registered as failed, partial reconstruction will not be allowed, and the corresponding trajectory segment will be directly registered as untransferable.

[0131] When multiple complete candidate joint sequences exist for the same trajectory segment, priority is given to retaining complete candidate joint sequences where both the continuous execution pass state and the skill-maintained pass state are simultaneously met. When two or more complete candidate joint sequences pass simultaneously, the following complete candidate joint sequences are retained in sequence: those without singular neighbor markers, without robot configuration switching, with a large remaining joint range of motion, and whose segment exit can be continuously connected to the entry of the next trajectory segment. If multiple complete candidate joint sequences still exist after the aforementioned screening, they are all passed to S5 for final selection during the segment connection stage.

[0132] When a trajectory segment has at least one complete candidate joint sequence and is simultaneously in a continuous execution pass state and a skill maintenance pass state, the trajectory acquisition is complete, and the segment entry is continuous with the previous trajectory segment exit, the trajectory segment is registered as a directly transferable state.

[0133] If there is no complete candidate joint sequence that can be directly transferred, and the current trajectory segment has one of the following failure types in the list: joint velocity failure, joint acceleration failure, joint continuity failure, singular state failure, collision state failure, or skill hold state failure, and all skill anchor points corresponding to the current trajectory segment are reachable and all skill anchor point verifications are passed, and there are stable continuous intervals before and after the failure interval, then the current trajectory segment is registered as a local reconstruction candidate state.

[0134] All skill anchor points include the glue valve status skill anchor points and workpiece position skill anchor points registered in the current trajectory segment; the glue valve status skill anchor points include the glue valve opening skill anchor point and the glue valve closing skill anchor point, and the workpiece position skill anchor points include the glue application start position, glue application end position, corner inlet, corner center and corner outlet corresponding to the current trajectory segment.

[0135] If there are five consecutive valid trajectory frames before the failed interval that have not undergone single-frame completion and instantaneous disturbance replacement, and the joint continuity state, singular state, collision state, and skill retention state of the aforementioned valid trajectory frames have all passed and the robot configuration code is consistent, then the trajectory frame closest to the failed interval is registered as a stable entry point. If there are five consecutive valid trajectory frames after the failed interval that meet the same conditions, then the trajectory frame closest to the failed interval is registered as a stable exit point. Trajectory frames within the failed interval of the skill anchor point and time reference, as well as robot configuration switching positions, cannot be used as stable entry points or stable exit points.

[0136] Under 90 Hz sampling conditions, the device timestamp span from the first to the fifth consecutive valid trajectory frames is approximately 44.44 milliseconds. The number of five consecutive valid trajectory frames is set based on the target industrial robot trajectory stability verification record and serves as the determination window for forming a stable entry and stable exit. If fewer than five valid trajectory frames meet the conditions before and after the interval are not passed, a stable entry and stable exit are not formed.

[0137] If any of the following conditions are met: the current trajectory segment is unreachable, the verification of any skill anchor point fails, the current trajectory segment has a time reference failure interval, the valve status is inconsistent with the workpiece position, the failure interval covers the entire continuous operation segment, a stable entry point is missing, a stable exit point is missing, or all complete candidate joint sequences cannot enter the subsequent reconstruction, the current trajectory segment will be registered as an unmigratable state.

[0138] The process of transferring the complete candidate joint sequence corresponding to the directly transferable state to S5 is as follows: The process of establishing a restricted transition trajectory by transferring the candidate joint node chain, stable entry point, stable exit point, failed interval, failed type, previous effective joint state, next effective joint state, and process boundary corresponding to the locally reconstructed candidate state to S5; when a complete candidate joint sequence exists for the current trajectory segment, the complete candidate joint sequence is transferred to S5. The trajectory segment corresponding to the non-transferable state stops entering control trajectory generation and outputs the trajectory segment number and skill anchor point range that need to be re-acquired.

[0139] S5 is implemented as follows: For trajectory segments in a local reconstruction candidate state, a restricted transition trajectory is established between a stable entry and a stable exit. The continuous execution verification and skill retention verification are re-executed. The candidate joint sequences that have passed the verification are connected in the order of the trajectory segments, and the control trajectory of the target industrial robot is generated.

[0140] A restricted transition trajectory refers to a transition trajectory that only adjusts the non-skill anchor point trajectory frames within the unpassed interval, while maintaining a stable entry point, stable exit point, skill anchor point, and glue valve state unchanged; the adjustment is limited to the position adjustment direction, attitude adjustment direction, execution time adjustment direction, adjustment step size, and maximum adjustment level registered in the current process card version.

[0141] The industrial control computer reads the stable entry point, stable exit point, failed interval, failed type, candidate joint node chain, previous valid joint state, next valid joint state, segment skill anchor point, segment skill constraint, and process boundary transmitted by S4. If a complete candidate joint sequence exists for the current trajectory segment, the complete candidate joint sequence is also read. The restricted transition trajectory only replaces the trajectory between the stable entry point and the stable exit point; the candidate joint sequences that have passed verification before and after the stable entry point remain unchanged. The stable entry point, stable exit point, glue valve opening skill anchor point, glue valve closing skill anchor point, glue application start position, glue application end position, corner entry point, corner center, and corner exit must not be deleted.

[0142] When establishing a restricted transition trajectory, the joint positions at the stable entry and exit points, robot configuration code, target tool center point pose, equipment timestamp, and valve status are read. Simultaneously, the joint range of motion, rated speed, permissible acceleration, singular state boundaries, safety envelopes of the workpiece, fixture, and safety fence, and the process boundary corresponding to the current trajectory segment are read. The restricted transition trajectory starts at the joint state at the stable entry point and ends at the joint state at the stable exit point; intermediate trajectories must not cross the workpiece action area of ​​the current trajectory segment.

[0143] When the failure type is "joint continuity failure," first maintain the original target tool center point trajectory and skill anchor point position unchanged, and reconnect the joint position combination between the stable inlet and stable outlet according to the robot configuration code of the stable inlet. If a candidate joint sequence with continuous adjacent joint positions and joint velocities and accelerations does not exceed the controller limits can be formed, the target tool center point trajectory is not adjusted. If a continuous candidate joint sequence cannot be formed, the target tool center point pose of non-skill anchor point positions is allowed to be adjusted within the nozzle distance range, nozzle attitude range, and rubber strip center deviation range corresponding to the current trajectory segment.

[0144] When the failure type is "singularity failure," the stable entry, stable exit, workpiece position-related skill anchor points, and glue valve states remain unchanged. The continuous change in the target tool center point posture within the singularity failure interval is adjusted. The adjusted candidate joint sequence must not contain singular proximity markers or singular prohibited states, and the robot configuration code must not switch within continuous operation segments or corner transition segments.

[0145] When the failure type is a collision failure, the approach and departure segments can adjust the target tool center point position and attitude within the allowable movement space outside the workpiece, but must not enter the safety envelope of the workpiece, fixture, or safety fence. The action establishment segment, continuous operation segment, and corner transition segment must not leave the workpiece's action area and can only be adjusted within the nozzle distance range, nozzle attitude range, and rubber strip center deviation range registered on the process card.

[0146] When the failure type is joint velocity failure or joint acceleration failure, first keep the target tool center point spatial trajectory, stable entry and stable exit joint positions, target tool center point pose, skill anchor point and glue valve status unchanged within the failure interval, and gradually extend the execution time of the failure interval by adjusting the step size according to the execution time.

[0147] During the execution time adjustment, the device timestamp at the stable entry point remains unchanged, while the device timestamps at the stable exit point and subsequent trajectory frames are sequentially extended according to the cumulative increase in execution time corresponding to the current adjustment level. The device timestamps of trajectory frames that do not pass through the interval are redistributed according to the extended execution time between the stable entry point and the stable exit point, while maintaining the time sequence of each trajectory frame.

[0148] For each additional adjustment level, the joint velocities, joint accelerations, and target tool center point velocities within the missed intervals are recalculated based on the adjusted device timestamps, and the continuity of joint velocities, joint accelerations, and target tool center point velocities between the current trajectory segment exit and the next trajectory segment entry is verified.

[0149] When the current trajectory segment belongs to either a continuous operation segment or a corner transition segment, the speed of the target tool center point after verification and adjustment shall be within the range of the tool center point speed registered in the current process card version. When the current trajectory segment belongs to either an approach segment, an action establishment segment, or a departure segment, the total execution time of the current trajectory segment after verification and adjustment shall not exceed the maximum allowable duration registered in the current process card version.

[0150] When the aforementioned continuity relationship and corresponding execution time adjustment boundaries are all passed, the device timestamp and time sequence corresponding to the current adjustment level are adopted, and the execution time is stopped from being extended further; when the maximum adjustment level of the execution time is reached but the verification is still not passed, the adjustment by extending the execution time is stopped, and the adjustment of the non-skill anchor point target tool center point pose is switched.

[0151] Based on the type of failure, the industrial control computer generates candidate target tool center point poses within the adjustment range and adjustment step size registered in the current process card version. For candidate target tool center point poses generated within the same failure interval, they are first arranged in ascending order of the sum of the adjustment levels for normal position, lateral position, and nozzle attitude; if the sum of the adjustment levels is the same, they are arranged in ascending order of the adjustment levels for normal position, lateral position, and nozzle attitude; if all the aforementioned adjustment levels are the same, they are arranged in positive and negative order according to the adjustment directions registered in the current process card version.

[0152] The pose of the center point of the candidate target tool is subjected to inverse kinematics solution, continuous execution verification and skill maintenance verification in the aforementioned unique order. The first candidate trajectory that passes both the continuous execution verification and skill maintenance verification is designated as a restricted transition trajectory. If all candidate trajectories fail, the corresponding trajectory segment is registered as a non-transferable state.

[0153] If the skill maintenance state fails due to a failure in any of the following checks on the continuity of the non-skill anchor point trajectory frame: nozzle distance, nozzle posture, adhesive strip center deviation, direction of movement along the line, tool center point speed of the corresponding trajectory segment, and corner posture, only the non-skill anchor point trajectory frames within the failed interval will be adjusted. The adjusted target tool center point pose should continuously enter and leave the corresponding process allowable range, and pass the continuity checks on the direction of movement along the line, tool center point speed of the corresponding trajectory segment, and corner posture. There should be no sudden changes in position, posture, or speed at the stable entry and stable exit points.

[0154] Within a continuous operation segment, the length of a single restricted transition trajectory along the sealed boundary shall not exceed 80 millimeters. Within a corner transition segment, a single restricted transition trajectory shall not cross two adjacent corners. Within an approach segment and a departure segment, the duration of a single restricted transition trajectory shall not exceed 1.5 seconds.

[0155] The aforementioned 1.5 seconds is used to limit the local reconstruction range of a single restricted transition trajectory within the approach and departure segments, and is not used as the maximum allowable duration of the approach and departure segments, nor is it used to replace the execution time adjustment boundary registered in the current process card version in S1.

[0156] The 80 mm boundary is derived from the current workpiece's corresponding glue application process verification record. It is determined by the maximum length along the line that can still complete the verification of glue strip center deviation, glue strip continuity, and corner area coverage after a local trajectory correction. The 1.5 second boundary is derived from the target industrial robot's low-speed operation acceptance record with tools. It is determined by the maximum duration during which joint continuity can be maintained during the local trajectory correction of the approach and departure segments, and the safety envelopes of the robot link and glue gun do not overlap with the safety envelopes of the environmental objects.

[0157] The requirement that corner transition segments must not cross the boundaries of two adjacent corners stems from the current adhesive application process card's requirement to maintain corner skill anchor points. The corner entrance, corner center, and corner exit corresponding to each corner are registered as skill anchor points, and the continuous operation trajectory between two adjacent corners is independently verified for skill maintenance. When a single restricted transition trajectory crosses two adjacent corners, it will simultaneously involve two sets of corner skill anchor points and two sets of corner transition relationships, and will not be treated as a local reconstruction interval.

[0158] When the restricted transition trajectory exceeds the 80 mm boundary, the 1.5 second boundary, or crosses two adjacent corners, the local reconstruction range will not be expanded. The current trajectory segment will be registered as non-migratable, and the re-acquisition range between the safe skill anchor point before the unpassed interval and the safe skill anchor point after the unpassed interval will be output.

[0159] After the constrained transition trajectory is formed, the pose of each target tool center point, the equipment timestamp, the workpiece coordinate reference number, and the glue gun tool center point parameters are sent to the target industrial robot controller. The joint position combinations are then reread, and a candidate joint sequence is established. The newly established candidate joint sequence is then re-verified according to the continuous execution verification and skill maintenance verification specified in S4.

[0160] After all trajectory segments are in a directly transferable state or have passed partial reconstruction, the candidate joint sequences of each trajectory segment are connected according to the actual teaching order. When S4 retains multiple complete candidate joint sequences, cross-segment candidate connections are established segment by segment from the nearest segment. The exit joint position, robot configuration code, target tool center point pose, joint velocity state, and glue valve state of the previous trajectory segment are checked against the corresponding contents at the entrance of the next trajectory segment.

[0161] When the first candidate trajectory passes both the continuous execution verification and the skill maintenance verification, the candidate trajectory is treated as a restricted transition trajectory, and the corresponding trajectory segment is registered as a partially reconstructed pass.

[0162] When the positions of the front and rear joints can transition continuously within the controller interpolation cycle, the robot configuration change conforms to the segment rules, the target tool center point pose is located at the common boundary of the two trajectory segments, the glue valve state conforms to the stage transition, and the connection process does not have singular proximity markers, singular prohibition states, or collision failure results, a segment connection is considered successful. When multiple cross-segment connections are successful, connection combinations without robot configuration switching and with a larger remaining joint range of motion are prioritized. If more than two connection combinations still exist after the aforementioned screening, the connection combination with the earlier candidate joint sequence number is retained to form the control trajectory.

[0163] When a connection location experiences any of the following: joint jump, sudden change in target tool center point posture, sudden change in joint velocity, or conflict in the glue valve state, read five consecutive valid trajectory frames before and after the connection location that have not undergone single-frame completion or instantaneous disturbance replacement. If the joint continuity state, singular state, collision state, and skill retention state of the aforementioned valid trajectory frames are all passed, and the robot configuration code is consistent, then connection stability entry and connection stability exit are formed respectively. Single-frame completed trajectory frames, instantaneous disturbance replacement trajectory frames, and skill anchor points cannot be used as connection stability entry and connection stability exits.

[0164] When both a stable inlet and a stable outlet exist, a connection-restricted transition trajectory is established, and continuous execution verification and skill maintenance verification are re-executed. Connection-restricted transition trajectories must not delete or move valve opening skill anchors, valve closing skill anchors, or workpiece position skill anchors. If the connection re-verification passes, the original connection interval is replaced; if a stable inlet or outlet is missing, or if the re-verification fails, the corresponding two trajectory segments cannot form a control trajectory, and the current skill migration batch will stop entering program generation.

[0165] After all segments are connected, a control trajectory is formed according to the interpolation cycle of the target industrial robot controller. Each control cycle of the control trajectory records the joint target, the pose of the target tool center point, the control status of the glue valve, the trajectory segment number, and the skill anchor point number.

[0166] The trajectory frames acquired by the XR terminal at 90 Hz are not directly sent to the target industrial robot controller with an interpolation period of four milliseconds. For two adjacent verified XR trajectory frames, the device time difference, starting joint position, and ending joint position are read, and the corresponding control execution time is determined based on the device time difference.

[0167] If the device time difference between two adjacent XR trajectory frames is divisible by four milliseconds, the device time difference is used as the control execution time for the corresponding interval; if it is not divisible by four milliseconds, the number of control cycles is determined upwards according to the four millisecond interpolation period, and the product of the number of control cycles and four milliseconds is used as the minimum control execution time that is not less than the original device time difference.

[0168] Based on the determined control execution time, starting joint position, and ending joint position, intermediate joint targets are sequentially formed according to a four-millisecond interpolation cycle, so that the ending joint position corresponds to the last control cycle of the interval. Each intermediate joint target is arranged continuously along the verified joint change direction, and the duration of each control cycle is four milliseconds.

[0169] Based on the determined control execution time, recalculate the joint velocities, joint accelerations, and target tool center point velocities between adjacent control targets, as well as the target tool center point velocities for the corresponding trajectory segments. If the joint velocities, joint accelerations, and target tool center point velocities all meet the corresponding limits, the interval is written into the control trajectory; if any verification fails, the control trajectory for that interval is not generated, and the current skill transfer batch is stopped from entering the program generation process.

[0170] When the control execution time of the current interval is greater than the original device time difference, the control timestamps of the current interval termination control cycle and subsequent control cycles are cumulatively extended according to the difference between the two; the subsequent adjacent trajectory frame intervals are all used as the starting control timestamps after the extension of the previous interval.

[0171] Based on the adjusted control timestamps, skill anchors are mapped to their corresponding control cycles. The valve opening state begins from the control cycle corresponding to the valve opening skill anchor, and the valve closing state begins from the control cycle corresponding to the valve closing skill anchor. The valve control state must not cross the corresponding skill anchor due to adjustments in control execution time or rearrangement of control cycles. The segment number and skill anchor number are written into the control trajectory along with the control cycle for tracking abnormal positions during robot operation.

[0172] After the control trajectory is generated, it is sent to the target industrial robot controller for program acceptance verification. The controller checks the joint range of motion, joint speed, joint acceleration, motion command format, program capacity, workpiece coordinate number, glue gun tool number, and glue valve control interface. When all checks pass and a program acceptance pass signal is returned, the control trajectory enters low-speed idle running. If any check fails, the corresponding trajectory segment and control cycle are located based on the controller feedback, and no robot execution permission is issued.

[0173] The low-speed idle run uses 10% of the normal operating speed, with the glue valve remaining closed. This 10% is derived from the on-site robot safety commissioning procedures. During the idle run, the actual joint positions, actual tool center point pose, collision feedback, and singular feedback of the target industrial robot are read. During the low-speed idle run, the joint position deviation between the actual joint position and the corresponding target joint is calculated cycle by cycle.

[0174] The permissible joint position deviations for each joint are read from the low-speed, tool-equipped operation acceptance record of the current target industrial robot. When generating the permissible joint position deviations, the controller reads the following error warning boundary and joint position feedback resolution registered for the corresponding joint. The joint position feedback resolution is used as the lower limit for stable identification of the deviation, and the following error warning boundary is used as the upper limit for the permissible joint position deviations. The permissible deviations for each joint are verified and registered through low-speed, no-load operation in the current tool-equipped state. The tool-equipped repeated positioning acceptance results are used to verify that the tool center point position and attitude under the aforementioned permissible deviations do not exceed the operation acceptance boundaries, and are not directly combined with the joint position deviations.

[0175] When the position deviation of any joint exceeds the registered allowable joint position deviation, an out-of-tolerance control cycle is registered; when the joint position deviation returns to the allowable range in the next control cycle, the current consecutive out-of-tolerance count is cleared.

[0176] If the same joint exceeds the allowable deviation for three consecutive control cycles, the target industrial robot will immediately stop, and the first out-of-tolerance control cycle, the stop control cycle, the trajectory segment number, and the skill anchor point number will be written into the no-run anomaly record. The stop judgment boundary for three consecutive control cycles is formed based on the single-cycle following error fluctuation record during low-speed no-run and the tool-equipped stop verification record. This is used to eliminate sampling fluctuations in a single control cycle and limit the continued accumulation of continuous following error.

[0177] After the low-speed no-load run is completed, a process simulation run at the actual operating speed is executed. During the process simulation run, the glue dispensing controller receives glue valve opening and closing commands and returns action feedback, but does not output glue.

[0178] The allowable time range for valve action feedback includes the allowable time range for valve opening feedback and the allowable time range for valve closing feedback, which are respectively registered in the current process card version. The valve opening feedback time is the time difference between the time of the valve opening control command and the time of the valve opening action feedback, and the valve closing feedback time is the time difference between the time of the valve closing control command and the time of the valve closing action feedback.

[0179] The aforementioned allowable time range is based on the action response test of the current glue dispensing controller and glue valve combination, the communication link delay test from the industrial control computer to the glue dispensing controller, and the verification records of the actual glue initiation and termination positions during the first piece glue dispensing. Only test records where the actual glue initiation position is within the glue valve opening allowable area and the actual glue termination position is within the glue dispensing end area are used to form the corresponding allowable time range, and the glue valve model, glue dispensing controller version, communication interface version, and process card version are all written into the formed record.

[0180] The process simulation runs successfully if the valve opening feedback time, valve action feedback time, and corresponding skill anchor point time are read from the glue valve control command time, the glue valve action feedback time, and the glue valve closing feedback time are both within the corresponding allowed time range registered in the current process card version.

[0181] When the feedback of the glue valve action exceeds the allowable time range of the process card, adjust the glue valve control command position according to the actual measured response time. The trajectory positions and numbers corresponding to the glue valve opening skill anchor point and the glue valve closing skill anchor point remain unchanged. The adjusted glue valve opening actual action position should be within the glue valve opening allowable area registered in the action establishment segment, and the adjusted glue valve closing actual action position should be within the glue application end area registered in the process card.

[0182] After adjusting the position of the glue valve control command, re-execute the glue valve opening skill anchor point verification, glue valve closing skill anchor point verification, and glue valve status and trajectory segment stage consistency verification. If all the above verifications pass, perform a process simulation run again; if any verification fails, stop the current skill migration operation batch, do not generate a new control trajectory, and output the failed skill anchor point number and the actual action position of the glue valve.

[0183] If the second process simulation still fails, stop the current skill transfer batch, check the glue application controller, glue valve and communication link, and do not continue to move the glue valve control command.

[0184] After the process simulation runs successfully, the first piece is coated with adhesive. The first piece inspection checks the continuity of the adhesive strip, the center position of the adhesive strip, the coverage of corner areas, the starting point of adhesive application, and the ending point of adhesive application according to the process card. When all first piece inspections pass, the control trajectory, along with the target industrial robot number, robot parameter file version, adhesive gun tool center point parameters, workpiece coordinate reference, fixture version, process card version, and XR spatial reference, are saved together.

[0185] When any of the following changes occur: robot parameter file, glue gun installation status, tool center point parameters, workpiece coordinate reference, fixture position, or process card, the control trajectory enters a pending review state, is not directly used for production, and a new skill transfer operation batch is established from S1.

[0186] Each step of the present invention can be executed by an industrial control computer, and the computer program executing the steps can be stored in a computer-readable storage medium.

[0187] The above content is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for skill transfer in industrial robots based on XR teaching trajectories, characterized in that, Perform the following steps in sequence: S1. Establish skill transfer operation batches and read the kinematic parameters, joint limitations, tool center point parameters, workpiece coordinate reference, process constraints and XR space reference of the target industrial robot. S2. Based on the correspondence between the XR spatial reference and the workpiece coordinate reference, the tool pose trajectory acquired by the XR terminal is converted to the workpiece coordinate reference, and the trajectory segments are divided according to the tool state, workpiece position and motion stage. The skill anchor points and skill constraints of each trajectory segment are registered. S3. Determine the joint solver based on the inverse kinematics interface capability of the target industrial robot controller. Perform inverse kinematics solution on the tool pose of each trajectory frame according to the trajectory segment sequence. Form a joint position combination verified by the target industrial robot controller. Establish a candidate joint sequence based on the segment entry joint state, robot configuration and the continuity relationship of adjacent joints. S4. Verify the joint continuity, singularity and collision states of each trajectory segment based on the candidate joint sequence, and verify the skill anchor point, tool-workpiece relative relationship, valve state and continuous operation speed based on the tool pose of the target industrial robot, and register the migration state of the trajectory segment. S5. For trajectory segments registered as candidates for local reconstruction, establish a restricted transition trajectory between stable trajectory frames that satisfy continuous execution verification and skill maintenance verification before and after the failed interval, re-execute continuous execution verification and skill maintenance verification, connect the verified joint sequences in the order of trajectory segments, and generate the control trajectory of the target industrial robot.

2. The method for skill transfer of industrial robots based on XR teaching trajectory according to claim 1, characterized in that, S1 includes: Bind the robot parameter file version, glue gun tool center point parameters, XR teaching tool center point parameters, workpiece coordinate datum, process card version, and XR spatial datum to the same skill transfer operation batch. When the robot equipment number, workpiece coordinate number, glue gun tool number, fixture number, and the corresponding number in the process card are consistent, XR teaching trajectory acquisition can be started. If there are inconsistencies between the robot equipment number, workpiece coordinate number, glue gun tool number, fixture number, and the corresponding number in the process card, the current skill transfer operation batch will be terminated. If the workpiece clamping status, tool installation status, or XR positioning base station location changes during batch execution, the current skill transfer operation batch will be terminated.

3. The industrial robot skill transfer method based on XR teaching trajectory according to claim 1, characterized in that, S2 include: Based on the installation relationship between the center point of the XR teaching tool and the XR controller, the pose of the XR controller is converted into the pose of the center point of the XR teaching tool, and then the workpiece coordinate trajectory frame is formed according to the correspondence between the XR spatial reference and the workpiece coordinate reference. If only one sampling sequence number is missing, and the valid positioning markers, simulated glue valve status, and acquisition button status before and after the missing position are consistent, a single-frame completion trajectory frame is formed between the valid trajectory frames before and after the missing position. Single-frame completion of the trajectory frame is not used as the boundary of the trajectory segment, skill anchor point, stable entry point, or stable exit point.

4. The method for skill transfer of industrial robots based on XR teaching trajectory according to claim 3, characterized in that, S2 also includes: The working area of ​​the workpiece is formed based on the sealing boundary, working surface, corner inlet, corner center, corner outlet, glue application start position and glue application end position in the three-dimensional model of the workpiece; Based on the position of the XR teaching tool center point relative to the workpiece's action area, the simulated valve state, and the direction of movement along the sealing boundary, the approach segment, action establishment segment, continuous operation segment, corner transition segment, and departure segment are formed sequentially. Register the following as skill anchor points: glue valve opening trajectory frame, glue valve closing trajectory frame, glue application start position, glue application end position, corner inlet, corner center, and corner outlet.

5. The industrial robot skill transfer method based on XR teaching trajectory according to claim 1, characterized in that, S3 include: The joint solver generates a combination of joint positions for each trajectory frame, and the target industrial robot controller returns the joint range verification results, robot configuration code and singular state feedback. Starting from the joint state at the fragment entry point, connect the joint position combinations that satisfy the joint velocity limit, joint acceleration limit, robot configuration rules and singular state boundaries according to the trajectory frame order to form a candidate joint node chain; The candidate joint node chain covering all trajectory frames of the current trajectory segment is retained as a complete candidate joint sequence.

6. The method for skill transfer of industrial robots based on XR teaching trajectory according to claim 5, characterized in that, S3 also includes: Load the complete candidate joint sequence into the target industrial robot 3D model that is bound to the current skills transfer operation batch; According to the interpolation cycle of the target industrial robot controller, the intermediate joint states are unfolded between the joint positions corresponding to adjacent trajectory frames; The safety envelopes of the robot links, the glue gun, and the workpiece, fixture, and safety fence are overlapped and verified for the corresponding posture and intermediate joint states of the trajectory frame. If no overlap occurs, the collision state pass result is recorded. If overlap occurs, the collision state fail interval is recorded. The complete candidate joint sequence and collision verification results are then transmitted to S4.

7. The industrial robot skill transfer method based on XR teaching trajectory according to claim 5, characterized in that, S4 include: For each complete candidate joint sequence, joint continuity state verification, joint velocity verification, joint acceleration verification, singular state verification, and collision state verification are performed respectively. When all the above verifications are passed, a continuous execution passed state is formed. The target tool center point pose of the target industrial robot is generated based on the complete candidate joint sequence, and the skill anchor point, nozzle distance, nozzle posture, adhesive strip center deviation, motion direction along the line, tool center point velocity of the corresponding trajectory segment, and adhesive valve status are verified. When all skill anchor point verifications and various process boundary verifications corresponding to the current trajectory segment pass, the skill remains in a passed state.

8. The method for skill transfer of industrial robots based on XR teaching trajectory according to claim 7, characterized in that, S4 also includes: When a complete candidate joint sequence exists and is simultaneously in both the continuous execution pass state and the skill hold pass state, the corresponding trajectory segment is registered as a directly transferable state; There is no complete candidate joint sequence that can be directly transferred. All skill anchors corresponding to the current trajectory segment are reachable and all skill anchors have passed the verification. Furthermore, there are five consecutive valid trajectory frames before and after the failed interval that have not undergone single-frame completion and instantaneous disturbance replacement. When the joint continuity state, singular state, collision state and skill retention state of the aforementioned valid trajectory frames have all passed and the robot configuration code is consistent, the corresponding trajectory segment is registered as a local reconstruction candidate state. Register the valid trajectory frame that is closest to the interval before the interval is not passed and meets the aforementioned conditions as a stable entry point, and register the valid trajectory frame that is closest to the interval after the interval is not passed and meets the aforementioned conditions as a stable exit point. If any of the following conditions are met: any skill anchor point corresponding to the current trajectory segment is unreachable, any skill anchor point fails verification, the current trajectory segment has a time base failure interval, or there is a lack of stable entry and stable exit points, the corresponding trajectory segment will be registered as unmigratable.

9. The industrial robot skill transfer method based on XR teaching trajectory according to claim 8, characterized in that, S5 include: Read the stable entry point, stable exit point, failed interval, and failed type corresponding to the local reconstruction candidate state; For joint velocity and joint acceleration failures, the execution time of the failure interval is adjusted; for joint continuous state failures, the joint position combination between the stable inlet and stable outlet is reconnected. If any of the following conditions are not met after the aforementioned processing: continuous execution verification fails, singular state fails, collision state fails, or skill hold state fails, the stable entry, stable exit, skill anchor point, and glue valve states remain unchanged, and the candidate target tool center point pose is formed for the non-skill anchor point trajectory frames in the failed interval. The inverse kinematics solution, continuous verification and skill maintenance verification are performed sequentially on the center point pose of the candidate target tool. The first candidate joint sequence that passes the verification replaces the original unpassed interval, and the control trajectory is formed according to the interpolation cycle of the target industrial robot controller.

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