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Trajectory planning method for double-robot coordinative assembling based on spline curve B

A dual-robot trajectory planning technology, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as insufficient flexibility, easy assembly blind spots, and limited working space for a single robot

Active Publication Date: 2017-03-15
XIANGTAN UNIV
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Problems solved by technology

[0002] Due to the limited working space of single robot assembly, it is easy to have assembly blind spots, the flexibility is not enough, and it is difficult to realize fully automated assembly operations.

Method used

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  • Trajectory planning method for double-robot coordinative assembling based on spline curve B
  • Trajectory planning method for double-robot coordinative assembling based on spline curve B
  • Trajectory planning method for double-robot coordinative assembling based on spline curve B

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specific Embodiment approach

[0082] refer to figure 1 , the invention discloses a trajectory planning method for coordinated assembly of dual industrial robots based on B-spline curves, which includes a task module, a master-slave robot joint trajectory planning module, an obstacle avoidance strategy module, a multi-objective optimization module, and an industrial robot driver. The following is a description of the task of achieving a typical dual-industrial robot (six degrees of freedom) shaft-hole coordination assembly task as an example. Other tasks that meet the requirements can be implemented according to this plan, and the specific implementation steps are as follows:

[0083] Step 1. Establish the kinematics model of the dual industrial robot, and obtain the positive and negative solutions of the master-slave industrial robot;

[0084] The kinematics model means that each link coordinate system of the master-slave robot can be established respectively by the D-H method, the kinematics forward so...

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Abstract

The invention provides a trajectory planning method for double-robot coordinative assembling based on a spline curve B, and belongs to the field of trajectory planning. According to the method, a task module, a master-slave robot joint trajectory planning module, an obstacle avoidance strategy module, a multi-objective optimization module and an industrial robot driver are included. According to the master-slave robot joint trajectory planning module, the joint trajectory planning method for double-robot coordinative assembling based on the spline curve B and a coordinative assembling error compensating method are invented; according to the obstacle avoidance strategy module, a double-robot deep search obstacle avoidance strategy is invented; according to the multi-objective optimization module, a multi-objective planning method for solving the kinematic constraint conditions that robot coordinative assembling has little time and the assembling track is smooth based on a swarm intelligence algorithm is invented. According to the technical scheme, the double-robot coordinative assembling track which is short in assembling short, smooth in assembling section joint track and free of interference and successfully avoiding obstacles can be obtained, cost is reduced, and damage to assembled parts is avoided.

Description

technical field [0001] The invention relates to the field of trajectory planning. More specifically, it relates to a trajectory planning method for coordinated assembly of two robots based on B-spline curves. Background technique [0002] Due to the limited working space of single-robot assembly, there are easy assembly blind spots, insufficient flexibility, and it is difficult to realize fully automated assembly operations. Therefore, in order to adapt to the complexity and intelligence of assembly tasks and make up for the lack of single-robot assembly, a dual-robot coordinated assembly system is proposed. Although the dual-robot coordinated assembly system has the advantages of good flexibility and high adaptability, its complexity also increases. The coordinated motion scheme of the dual-robot system, the obstacle avoidance algorithm between the robots, and the trajectory planning and optimization of the dual-robot Algorithms are problems to be solved. Contents of th...

Claims

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Application Information

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IPC IPC(8): G06F17/50G06Q10/04
CPCG06F30/17G06Q10/047
Inventor 李明富赵艳梅童忠文李俊渊龙睿杰
Owner XIANGTAN UNIV
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