A Subgradient Method for Welding Robot Motion Model

A welding robot and robot movement technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of fewer algorithms and achieve the effects of small time-consuming, simple algorithm structure, and low consumption

Active Publication Date: 2022-07-05
苏州丽景智能科技有限公司 +1
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Problems solved by technology

Although there are many kinds of motion models for welding robots, in actual operation, there are few algorithms based on the non-smooth model of welding robots

Method used

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  • A Subgradient Method for Welding Robot Motion Model
  • A Subgradient Method for Welding Robot Motion Model
  • A Subgradient Method for Welding Robot Motion Model

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Embodiment Construction

[0063] The present invention is a sub-gradient method of a motion model of a welding robot. The sub-gradient method is a non-smooth optimization method proposed based on the problem of a non-smooth motion planning model of a welding robot. The problem of a non-smooth motion planning model of a 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 joint is used as an edge; the motion planning model includes a displacement control variable q(t), which is called a configuration, and the The parameter vector of the joint is the control variable of the motion planning model, and q(t) is abbreviated as q. The allowable function q needs to satisfy the following equ...

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Abstract

The invention relates to a sub-gradient method for a motion model of a welding robot. The sub-gradient method is a non-smooth optimization method proposed based on a non-smooth motion planning model problem of a welding robot. The non-smooth motion planning model problem is a motion planning problem. After mutating the motion planning problem, the non-smooth motion planning model of the welding robot can be obtained. On this basis, the sub-gradient method of the present invention is applied to solve the motion optimization problem of the welding robot, and the power system of the welding robot and the controller of the welding robot can be obtained. , under the optimization model with the welding robot energy as the performance index, the controller obtained by the calculation makes the welding robot control system stable, and can achieve a relatively small consumption of the required energy. The algorithm structure of the sub-gradient method of the present invention is simple, the algorithm speed is linearly convergent, and the time consumption is small.

Description

technical field [0001] The invention relates to an automobile intelligent manufacturing technology, in particular to a sub-gradient method of a motion model of a welding robot. 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 motion trajectory. The scientific solution to calculate the robot motion trajectory 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 to perform motion calculations, motion planning models are implemented through closed-loop control. In the automotive manufacturing industry, welding robots are widely used because the tasks are predetermined, which requires maximum motion speed and robustness under the constraints of kinematic performance or within the constraints of weld...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00
Inventor 王帅庞丽萍王金鹤孟凡云赵伟肖泽昊
Owner 苏州丽景智能科技有限公司
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