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A motion trajectory planning method in the operating space of a heavy-duty industrial robot

An industrial robot and operating space technology, applied in the direction of instruments, non-electric variable control, position/direction control, etc., can solve the problem of not realizing the smoothness of motion commands, not realizing the best compromise between optimal time and energy consumption, and space Problems such as discontinuous acceleration at the start point and end point of the multi-point spline

Inactive Publication Date: 2011-12-28
HARBIN INST OF TECH
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Problems solved by technology

[0006] In order to solve the problem of discontinuous acceleration at the start point and end point of the multi-point spline in space in the existing heavy-duty robot motion planning method, the present invention does not realize the smoothness of the motion command; and the existing heavy-duty robot motion planning does not realize time optimization The problem of the best compromise between energy consumption and optimal energy consumption, and then provides a motion trajectory planning method in the operating space of heavy-duty industrial robots

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  • A motion trajectory planning method in the operating space of a heavy-duty industrial robot
  • A motion trajectory planning method in the operating space of a heavy-duty industrial robot
  • A motion trajectory planning method in the operating space of a heavy-duty industrial robot

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specific Embodiment approach 1

[0052] Embodiment 1: The specific process of the motion trajectory planning method in the operation space of a heavy-duty industrial robot described in this embodiment is as follows:

[0053] Step A. Use the modified spline function to interpolate for multiple points in the space:

[0054] Step A1: Use a cubic spline curve to establish a basic interpolation function, and use a cubic polynomial to interpolate between any two preset points. The expression of the basic interpolation function is as follows:

[0055] S j (t)=a j +b j (t-t j )+c j (t-t j ) 2 +d j (t-t j ) 3

[0056] t∈[t j , t j+1 ], j=0, 1, ..., n-2 (1)

[0057] The time interval between two adjacent preset points is h j =t j+1 -t j ; a j , b j , c j , d j is the coefficient to be determined; n represents the number of preset points;

[0058] Step A2: At the same time, the function value S must be guaranteed at each preset point to ensure continuity j The first derivative value S′ of (t) j (t...

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Abstract

The invention relates to a motion track planning method in an operation space of a heavy-duty industrial robot, which relates to a planning method of a robot motion track. In order to solve the problem of discontinuous acceleration at the start point and end point of the multi-point spline in space in the existing heavy-duty robot motion planning method, the present invention does not realize the smoothness of the motion command; and the existing heavy-duty robot motion planning does not realize the optimal time , the best compromise between the optimal energy consumption. Technical points: This method corrects the traditional cubic spline through additional items. Make it keep continuous in speed and acceleration in the whole process. At the same time, comprehensively considering the optimal problem of time and energy consumption, based on the dynamic model, the energy consumption and execution time of the system are selected as the optimization target, and the speed, torque, and jerk are used as the constraint conditions. A multi-objective optimization model is established, and the NSGA2 non-dominated genetic algorithm is used for Optimize the model solution. It is suitable for off-line calculation processes such as trajectory planning and motion planning of heavy-duty industrial robots.

Description

technical field [0001] The invention relates to a planning method for a robot motion trajectory, and belongs to the technical field of robot motion control. Background technique [0002] High-speed and heavy-duty industrial robots are widely used in automobile manufacturing, aviation manufacturing, petrochemical metallurgy, and port logistics industries. High-speed and heavy-duty robots are of great significance for improving production efficiency, increasing the flexible manufacturing capacity of production lines, and improving the level of industrial automation. The motion trajectory planning of heavy-duty robots is one of the key core technologies to ensure the efficient, reliable and stable operation of heavy-duty industrial robots. At present, the motion planning of heavy-duty robots has the following two basic requirements: [0003] 1. To generate a motion trajectory, it must be smooth enough. Therefore, the motion planning algorithm needs to select a sufficiently s...

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Application Information

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IPC IPC(8): G05D3/00
Inventor 游玮孔民秀
Owner HARBIN INST OF TECH
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