Transitional track planning method applied by industrial robot

Abstract

The invention discloses a transitional tracking planning method applied by an industrial robot, which can realize the transition between a joint space track and a cartesian space track, and the transition between two tracks of the cartesian space, the transitional track between different movement tracks are planned under the cartesian space, and has an intuitive shape; by adopting the algorithm that two parabolas are fused into one transitional curve, the smoothness of the track, speed and acceleration can be ensured, and the curve shape is controllable; the transitional track is formed by six independent curves, and the transition can be realized on the track with only posture change without position change; from the engineering application angle, the path velocity of transitional track boundary is restrained by utilizing the included angle between the tracks and the system allowable chord error, the boundary posture rotation speed is restrained by the similar mode, so that the large impact on a mechanical system caused by overhigh engagement speed can be prevented.

Description

technical field [0001] The invention relates to a transition trajectory planning method for industrial robots. Background technique [0002] Industrial robots have been widely used in many fields, and are playing an increasingly prominent role in the development of modern industrial automation and intelligence. Motion trajectory planning is a basic task of the robot control system. The motion trajectory of industrial robots usually has straight lines and arcs in Cartesian space, and point-to-point motion trajectories in joint space. In practical applications, a processing task is generally completed by connecting multiple trajectories sequentially. However, there are corners at the junction of two adjacent trajectories, and many applications require smooth trajectories without corners, that is, the end point transitions smoothly from one trajectory to next track. A switching track between two tracks is called a transition track. [0003] At present, there are some studies...

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Problems solved by technology

Among them, arc transition can ensure smooth trajectory and uniform speed, and has a wide range of applications, such as: Chinese invention patent "a welding robot transition trajectory planning method" (application number 201110000264.3), which is aimed at welding robots, transition section welds The circular arc is used to connect the straight line segment weld and the arc segment weld, but there is a jump in acceleration at the junction of the transition segment and the track segment in the arc transition, which affects the smoothness of the track and may cause mechanical vibration, and the arc transition cannot Realize the transition of two adjacent segments with only attitude changes, which is not applicable to other applications with this requirement; polynomial curve transitions, including spline functions, Hermite functions, quintic polynomials, etc., rely on the characteristics of high-order continuity It can ensure smooth acceleration, reduce vibration, and is conducive to high-speed movement. Among them, there are many studies on the transition algorithm of quintic polynomial, such as: "Research on Cartesian Space Trajectory Planning of Manipulator [J]." (Lin Shigao, Liu Xiaolin, Ou Xian "Mechanical Design and Manufacturing", 2013 (3): 49-52) Construct transition curves with quintic polynomials for the six degrees of freedom of the pose, which can not only ensure the smoothness of trajectory, velocity, and acceleration, but also complete the trajectory with only attitude changes , but the geometry of the quintic curve is difficult to control and lacks engineering constraints

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