A design method for the space movement trajectory of manipulator

Abstract

This application belongs to the field of manipulator control design, and specifically relates to a design method of a manipulator's space movement trajectory, including the following steps: Step 1: Using computer software to establish a 3D model of the workpiece to be processed according to the actual data of the workpiece, and generate the 3D model. stl file; step 2, slice the 3D model of the workpiece to be processed, and obtain the data coordinate G code file of all slices; step 3, use word processing software to open the G code file, and extract the X, Y, Z three-dimensional coordinate data Save it as a .CSV file; step 4, add other data required by the manipulator to realize the movement to the .CSV file, and save the .CSV file again; step 5, import the .CSV file obtained in step 4 into the spline file of the manipulator, And make the spline file meet the requirement that the program in the manipulator can be called. It can effectively simplify the design of manipulator's complex space trajectory.

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 track. 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 the sp...

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