A Method for Generating Smooth Motion Trajectories of Industrial Robots with Controllable Errors

Abstract

The invention discloses an error-controllable industrial robot fairing movement track generation method which comprises the following steps: S1, generating an MOVEB movement instruction, describing an industrial robot movement track which comprises a track point and posture, a track point error threshold input by a user, and a chord height error threshold; S2, performing interpolation on a robot track point, namely performing interpolation on a high-order B sample curve into the track point according to the track point error and the chord height error threshold by using the high-order B sample interpolation algorithm, and respectively achieving G2 interpolation and G3 interpolation of the robot track point, so as to obtain an interpolation track which has high continuity and meets the track point error and chord height error requirements; S3, performing interpolation on the posture of the robot so as to obtain a robot posture curve with sectional G2 and continuous G3; S4, acquiring a movement track of the robot after interpolation according to the track point interpolation curve and the robot posture curve. By adopting the error-controllable industrial robot fairing movement track generation method, real-time continuous interpolation of the movement track can be achieved, calculation can be simple, efficient and precise, and vibration and abrasion of the robot can be reduced.

Description

technical field [0001] The invention belongs to the technical field of industrial robot application, and in particular relates to a method for generating a smooth motion trajectory of an industrial robot with controllable errors. Background technique [0002] Industrial robots are widely used in complex operations such as welding, assembly, handling, polishing, spraying and cutting. During the operation, the industrial robot controls the trajectory of the robot through motion commands. The motion commands recognizable by existing industrial robots mainly include linear motion commands, arc motion commands and axis coordinate motion commands. For example, MOVEL, MOVEC and MOVEJ are used to represent the above three commands in ABB robots. The simple motion trajectory can be used to write axis coordinate motion instructions through the teach pendant, which is mainly used in operations that only require accuracy to the point, and the trajectory between points is arbitrary but ...

AI Technical Summary

Problems solved by technology

[0009] The technical problem to be solved by the present invention is to provide a controllable error-controllable smooth motion trajectory generation of industrial robots for the problems of poor continuity and unsatisfactory errors in robots in the prior art, which lead to low work efficiency, unqualified quality and machine vibration method, the calculation is simple, efficient and accurate, the robot motion trajectory can meet the requirements of high continuity and high precision at the same time, the industrial robot error (track point error and chord height error) can meet the real-time realization requirements of smooth shape-preserving motion trajectory

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