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Trajectory link control method for Delta robot based on Bezier curve

A Bezier curve and connection control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., to achieve the effect of increasing running speed, improving efficiency, and reducing the change of angular acceleration

Active Publication Date: 2018-09-25
TONGJI UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

That is to say, the angle between two straight lines directly determines the curvature of the transition arc, which has limitations for the actual application of Delta robots.

Method used

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  • Trajectory link control method for Delta robot based on Bezier curve
  • Trajectory link control method for Delta robot based on Bezier curve
  • Trajectory link control method for Delta robot based on Bezier curve

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Embodiment

[0028] Taking a 3-DOF Delta robot that does not consider the end rotation as an example, the application of the design method based on the Bezier curve trajectory connection proposed in the present invention in the Delta robot's pick-and-place trajectory planning is illustrated.

[0029] (1) The arc length parameterization of the second-order Bessel equation

[0030] Bezier curve is a very important parameter curve in computer graphics. It is used in some relatively mature bitmap software such as PhotoShop. The main significance of Bezier curve is that, whether it is straight line or curve, it can give mathematical Analytical description above. For the Delta robot, the real-time trajectory calculation needs to be completed within one bus cycle, and the analytical form of the curve equation is very helpful for computational efficiency.

[0031] like figure 2 As shown, the second-order Bessel equation is given by P 0 , P 1 , P 2 Determined, the equation form is:

[0032] ...

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Abstract

The invention relates to a trajectory link control method for a Delta robot based on a Bezier curve. The trajectory link control method is characterized in that the method establishes a curve arc length model, and the curve arc length model represents the corresponding relation between the arc length of the Bezier curve and a curve parameter, the Bezier curve is constructed according to a given trajectory parameter and the curve arc length model to obtain a Cartesian space coordinate, transforming the Cartesian space coordinate to a joint space angle of the Delta robot based on an inverse kinematic model of the Delta robot, and carrying out trajectory link on the Delta robot. Compared with the prior art, the trajectory link control method for the Delta robot based on the Bezier curve disclosed by the invention has the advantages of improving the smoothness of the end motion of the Delta robot, reducing the loss of a motor and the like.

Description

technical field [0001] The invention relates to the field of robot trajectory control, in particular to a Bezier curve-based Delta robot trajectory connection control method. Background technique [0002] The Delta robot has the characteristics of light weight and high speed. It is used more and more in industries that require high-speed motion. Its motion trajectory in the workspace mainly has two shapes: straight line and circle. For the Delta robot, according to the direct connection When the straight line segment is moving, it must stop and move again at the connection point of the straight line, because the direction of the velocity has changed at this point, that is to say, the velocity has changed abruptly. In the current scheme, the arc-curve design is used to connect the straight line segments, so that the speed of the trajectory can be continuous without sudden change when the trajectory transitions between multiple straight lines. However, there are some problems...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 刘成菊韩俊强
Owner TONGJI UNIV
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