A motion planning method for additional axes in the work cell of a gantry-type hoisting robot

Abstract

The invention relates to a motion planning method for additional shafts in working units of a gantry hoisting robot. On the basis of addition of the gantry external linear additional shafts, redundant working units linked with six joints of the industrial robot, and a fixed working platform, two of a section of machining path points monotonously changing along a motion direction of each slide table which is fixedly connected with a robot base on the corresponding additional shaft are manually selected as end points of a preferred interval. A movable initial point of each slide table is obtained through a projection principle of a straight line from a point to a space. A movable middle point and a movable termination point of each slide table are obtained through setting a step length of the slide table, that is, distances from movable positions corresponding to the machining path points in the corresponding preferred interval, of each slide table, to a zero point of the corresponding additional shaft, are obtained. Movements of the slide tables are in preference to motions of the joints of the robot when the robot machines the path points in the preferred intervals. The method is capable of reducing the change amplitudes of the joints of the robot, so that the motion of the robot is continuous and stable; and the method is suitable for machining the continuous and dense path points by the robot.

Description

technical field [0001] The invention relates to a motion planning method for an additional axis in a gantry-type hoisting robot work unit, and belongs to the field of redundant workspace control of industrial robots. Background technique [0002] As industrial robots are gradually being widely used in industrial production, the need to expand the processing range of industrial robots has become increasingly prominent. In many robot application fields, such as large-scale mold chamfering surface induction hardening system based on industrial robots, due to the large size of the work object, it is necessary to add external linear additional axes to the industrial robot to expand the working range of the robot. In addition, the method of installing the robot upside down on the additional axis of the gantry type can be effectively applied to robot installation areas that cannot be used in the past. [0003] According to the literature search of the existing technology, it is fo...

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Problems solved by technology

[0003] According to the literature search of the existing technology, it is found that there is a sub-station task planning and control method for controlling the motion mode of the robot’s additional axis, that is, the robot only works at a few specific stations of the additional axis. Although this method can realize the control of the product The coverage of the entire processing range, but when processing the continuous trajectory points within the corresponding processing range at a certain station, the joints of the robot itself change greatly, and when it is necessary to process the processing range corresponding to the next station, it is necessary to wait for the robot to start from a station. Move to another site, so this method is suitable for relatively discrete trajectory points on large workpieces, such as automatic drilling and riveting based on industrial robots

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