Design method of spatial moving track of manipulator

Abstract

The invention belongs to the field of manipulator control design, and specifically relates to a design method of a spatial moving track of a manipulator. The method comprises the following steps: 1, building a 3D model of a workpiece to be processed through computer software according to the actual data of the workpiece, and producing a .st1 file of the 3D model; 2, slicing the 3D model of the workpiece to be processed, and obtaining data coordinate G code files of all clips; 3, opening the G code files through word processing software, and extracting X-, Y- and Z-directional coordinate data,and saving as .CSV file; 4, adding other data for movement performing of the manipulator to the .CSV file, and saving as .CSV file; and 5, importing the .CSV file obtained in step 4 to a spline file of the manipulator, and enabling the spline file to meet the requirement on manipulator procedure transferring. With the adoption of the method, the design of the complex spatial moving track of the manipulator can be effectively simplified.

Description

technical field [0001] The application belongs to the field of manipulator control design, and in particular relates to a design method for a manipulator's spatial movement trajectory. Background technique [0002] The movement trajectory of the manipulator is realized by the programming software of the manipulator. The key position of the movement trajectory is determined by the teaching method, and the movement control of the trajectory is realized by moving to each key position. When there are more key points in the trajectory, the programming of the program becomes more complicated. , if it is necessary to realize complex 3D patterns, the teaching method cannot accurately determine the coordinate positions of key points, so that the design of complex patterns cannot be realized. 3D printing already has a mature software model design, so 3D modeling software is used to complete the complex trajectory position data design, and then through file conversion, import it into t...

AI Technical Summary

Problems solved by technology

[0002] The movement trajectory of the manipulator is realized by the programming software of the manipulator. The key position of the movement trajectory is determined by the teaching method, and the movement control of the trajectory is realized by moving to each key position. When there are more key points in the trajectory, the programming of the program becomes more complicated. , if complex 3D patterns need to be realized, the teaching method cannot accurately determine the coordinate positions of key points, so that the design of complex patterns cannot be realized