An error-controllable b-spline transition smooth trajectory generation method for a four-axis industrial robot

Abstract

An error-controllable four-axis industrial robot B-spline transition smooth trajectory generation method, comprising: Step 1, four-axis industrial robot trajectory preprocessing: the trajectory is divided into smooth trajectory segments and non-smooth trajectory segments, and The four-axis attitude is preprocessed to ensure that the inferior arc trajectory is taken between the two trajectory points; step 2, the four-axis trajectory B-spline smoothness: traverse the trajectory segments generated in step 1 to be smooth, and follow the trajectory point error threshold for each trajectory segment , position point chord height error threshold and continuity require geometric iteration method to generate B-spline transitional smooth trajectory. The B-spline transitional smooth trajectory of the present invention is composed of a linear trajectory and a B-spline trajectory, and the entire trajectory has G1 or G2 continuity with synchronous position and attitude, which meets the error of the trajectory point and the position chord height error between the trajectory points, and Using the spline trajectory can realize the smooth trajectory of the complex application of the four-axis industrial robot, thereby improving the operating efficiency and quality of the four-axis industrial robot.

Description

technical field [0001] The invention belongs to the field of trajectory optimization of industrial robots, and in particular relates to a method for generating a B-spline transitional smooth trajectory of a four-axis industrial robot with controllable errors. Background technique [0002] Four-axis industrial robots, also known as planar joint (SCARA) robots, have three rotation axes and one translation axis, and are widely used in operations such as handling, assembly and gluing. [0003] Most of the motion commands of four-axis industrial robots are consistent with those of six-axis industrial robots, including linear commands, arc commands and axis joint motion commands. At the same time, each command can specify accurate to point or smooth transition. Accurate-to-point commands can meet the trajectory accuracy requirements, but the speed must be reduced to zero when reaching the trajectory point, resulting in a reduction in work efficiency; smooth transition can be made...

AI Technical Summary

Problems solved by technology

[0006] In the trajectory (position and posture, referred to as pose) expression of the existing four-axis industrial robot, it does not have the ability to simultaneously satisfy high continuity (position and posture synchronous continuity) and high precision (satisfy the error of the trajectory point and the position chord height between the trajectory points) error) smooth trajectory expression

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