Welding robot motion model subgradient method

A welding robot and robot movement technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problem of fewer algorithms

Active Publication Date: 2019-06-18
宁波凯德科技服务有限公司 +1
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Problems solved by technology

Although there are many kinds of motion models for welding robots, in actual ope

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  • Welding robot motion model subgradient method
  • Welding robot motion model subgradient method
  • Welding robot motion model subgradient method

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Embodiment Construction

[0063] The present invention is a subgradient method for the motion model of a welding robot. The subgradient method is a non-smooth optimization method proposed based on the non-smooth motion planning model problem of the welding robot. The non-smooth motion planning model problem of the welding robot is a motion planning problem. After mutating the motion planning problem, the non-smooth motion planning model of the welding robot is obtained.

[0064] First review the welding robot motion planning problem:

[0065] , the welding robot is defined as a tree-shaped welding robot with some rigid bodies assembled by joints, that is, the main body is a node, and the joints are edges; the motion planning model includes a displacement control variable q(t), which is called a configuration, so The parameter vector of the joint is the control variable of the motion planning model, and q(t) is abbreviated as q, and the admissible function q needs to satisfy the following physical meani...

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Abstract

The invention relates to a welding robot motion model subgradient method. The method is a non-smooth optimizing method proposed based on a non-smooth motion planning model question of a welding robot,the non-smooth motion planning model question is a motion planning question, and after motion planning question variation is conducted, the non-smooth motion planning model of the welding robot can be obtained, and the motion optimizing problem of the welding robot is solved on the basis by applying the subgradient method. A power system of the welding robot can be obtained, a welding robot controller is obtained, a control system of the welding robot is allowed to be stable by the controller obtained through computation under an optmizing model taking the welding robot energy as a performance indicator, and lower needed energy consumption can be achieved. The method has the advantages that the algorithm structure is simple, the algorithm speed is linearly convergent, and the time consumption is lower.

Description

technical field [0001] The invention relates to an automobile intelligent manufacturing technology, in particular to a subgradient method for a welding robot motion model. Background technique [0002] Robot technology is an intelligent technology that converts digital data into physical actions after processing. The core of any robot system research and development is the trajectory. The scientific solution to calculate the trajectory of the robot to achieve the desired purpose or complete the desired task is the welding robot. Motion planning model. Because of the diversity and uncertainty of the models and environments used for motion calculation, the motion planning model should be realized through closed-loop control. In the automobile manufacturing industry, welding robots are widely used, because the tasks are determined in advance, which requires maximum motion speed and robustness under the constraints of motion performance or under the constraints of joint range, ...

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Application Information

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IPC IPC(8): B25J9/16B25J11/00
Inventor 庞丽萍王帅肖泽昊王金鹤孟凡云赵伟
Owner 宁波凯德科技服务有限公司
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