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Planning method of industrial robot joint space synchronous movement

An industrial robot and joint space technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of non-smooth transition of motion speed and acceleration, poor anti-shake performance, etc., and achieve good anti-shake performance, easy to implement, and method simple effect

Active Publication Date: 2019-05-21
XIAN AEROSPACE PRECISION ELECTROMECHANICAL INST
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AI Technical Summary

Problems solved by technology

Most of the technologies in the current public literature use T-shaped or cubic polynomial acceleration and deceleration methods for joint trajectory planning. The movement speed and acceleration of each joint in the movement process planned by this method are not smooth transitions, and its anti-jitter performance is poor.

Method used

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  • Planning method of industrial robot joint space synchronous movement
  • Planning method of industrial robot joint space synchronous movement
  • Planning method of industrial robot joint space synchronous movement

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Embodiment Construction

[0055] Below in conjunction with accompanying drawing, method of the present invention is described in further detail:

[0056] Running this method in the robot motion controller is to know the starting point and end point of each joint motion of the robot expected by the user, and plan the motion state of each joint of the robot at each moment between these two points to ensure that the joints of the robot move synchronously. And its speed, acceleration smooth transition.

[0057] Such as figure 1 As shown, this method is a program instruction running in the motion controller, and its running process is:

[0058] Step [1] Start the motion controller;

[0059] Step [2] Obtain the end point sEndP.A of the desired joint movement of the robot i and the starting point sStaP.A i ;

[0060] Step [3] Calculate the maximum time required for planning MaxT based on the known starting point and end point; the specific steps are:

[0061] Step [3.1] Calculate the angle θ that each m...

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Abstract

The invention relates to a planning method of industrial robot joint space synchronous movement. According to the method, the joint posture is in smooth transition, the speed and the acceleration arein smooth transition, no step and sudden change exist, and the shaking resisting property is good. The method comprises the following steps that firstly, a motion controller is started; secondly, theexpected robot motion starting point and end point are obtained; thirdly, the maximum duration MaxT needed by planning is calculated; fourthly, five coefficients needed by motion planning of all joints are calculated; fifthly, the running mode is judged, if the mode is a normal mode, the sixth step is executed, and if the mode is the deceleration stop mode, the seventh step is executed; sixthly, planning under the normal running mode is carried out; seventhly, planning under the deceleration stop mode is carried out; and eighthly, the operation is finished.

Description

technical field [0001] The invention relates to a planning method for joint space synchronous motion of an industrial robot. Background technique [0002] The configuration of industrial robots is multi-joint coupling, how to realize the synchronous motion of multi-joints in space is one of the key issues in the control of industrial robots. Most of the technologies in the current published literature use T-shaped or cubic polynomial acceleration and deceleration methods for joint trajectory planning. The movement speed and acceleration of each joint planned by this method are not smooth transitions, and their anti-jitter performance is poor. Contents of the invention [0003] In order to solve the problems in the background technology, the present invention proposes a planning method for joint space synchronous motion of an industrial robot. Using this method, not only the joint posture is smoothly transitioned, but also the speed and acceleration are also smoothly trans...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 冯艳丽黎原兰玉乾张颖马少阳田子阳
Owner XIAN AEROSPACE PRECISION ELECTROMECHANICAL INST
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