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Track planning method for robot joint space conveyor belt following movement

A technology for robot joint and trajectory planning, applied in two-dimensional position/channel control and other directions, to achieve the effect of smooth joint velocity curve and simple visual algorithm

Active Publication Date: 2016-06-22
NANJING ESTUN AUTOMATION CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the defects existing in the prior art, and propose a trajectory planning method for the robot joint space conveyor belt to follow the motion. This method only needs the vision module to locate the initial position of the object, and does not need visual positioning in the follow-up process. , and the algorithm is based on the planning of the joint space of the robot, and directly plans the trajectory of each joint of the robot to ensure that each joint does not exceed the maximum acceleration and maximum speed, and can follow the target object in the shortest time, with high follow-up efficiency

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  • Track planning method for robot joint space conveyor belt following movement
  • Track planning method for robot joint space conveyor belt following movement
  • Track planning method for robot joint space conveyor belt following movement

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Embodiment Construction

[0037] The present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings.

[0038] The present invention uses SCARA robot (attached Figure 4 Shown) is the experimental object, and its bar parameters are: L1=L2=300cm, L3=200cm, and the following algorithm proposed by the present invention is applied to it. The test environment is attached figure 1 As shown, the conveyor belt is installed on the X-axis of the Cartesian coordinate system and moves at a constant speed with a speed of 133.33mm / s.

[0039] The entire follow-up process is attached figure 2 It is: when the vision module detects the target object, the program judges whether the following condition is satisfied, and if it is satisfied, it will follow dynamically. The so-called dynamic follow refers to reading the position of the target object every 4ms (the interpolation time of the control system) and predicting it. , the robot moves towards the predicted...

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Abstract

The invention discloses a track planning method for robot joint space conveyor belt following movement. The method enables a robot to track a target object on a conveyor belt quickly and to move synchronously with the target object, so that dynamic following is realized and therefore related application functions such as grasping and the like can be implemented. According to the invention, the initial position and speed of the target object are determined through a visual system and the position of the target object is predicated in real time. Then conversion into the joint space is realized through inverse kinematics and track planning on different joints of the robot in the joint space is made. Therefore, dynamic following is realized. According to the invention, only joint restriction conditions need to be considered and the restriction conditions are simple. Besides, the method is the dynamic track planning method with optimal time and can ensure that the robot can track the target object in the shortest time. The method is simple and is high in following efficiency.

Description

technical field [0001] The invention relates to a planning method for a robot motion track, in particular to a track planning method for a robot joint space conveyor belt following motion. Background technique [0002] A common application area for robots is tracking objects on conveyor belts for applications such as grasping, packaging, and sorting. [0003] A typical conveyor belt following application environment is shown in the attached figure 1 As shown, the main devices included are: robot, linear conveyor, pulse encoder, vision system and workpiece. There is a position detection device pulse encoder on the conveyor belt, which can detect the distance traveled by the conveyor belt. The vision system is located above the conveyor belt, and the vision system is used to position the workpiece on the linear conveyor belt. During the operation of the conveyor belt, the vision system detects the workpiece in the shooting area. The vision system takes and records the positi...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 潘婷婷冯日月王继虎
Owner NANJING ESTUN AUTOMATION CO LTD
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