Combined joint and cartesian space six-axis industrial robot path planning method

An industrial robot, Cartesian space technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problem that the motion plan cannot be biased, and achieve the effect of high applicability

Inactive Publication Date: 2019-06-25
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The method proposed in this document also has defects. For some soft constraints, the motion plan cannot be biased towards the desired robot posture, so that the industrial robot moves to an unknown posture, and there are safety problems.

Method used

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  • Combined joint and cartesian space six-axis industrial robot path planning method

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Embodiment Construction

[0022] The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

[0023] The system used in the present invention comprises UR3 six-axis industrial robot (Universal Robots), industrial robot controller, gripper, Kinect camera, PC. This system, equipped with a Kinect camera, is to identify the target object and give the pose of the target object. At the same time, it can also identify whether there are obstacles in the environment, so that the six-axis industrial robot can avoid obstacles and perform path planning.

[0024] Such as figure 1 As shown, a path planning method for a six-axis industrial robot combining joints and Cartesian space, the steps are as follows:

[0025] (1) Modeling of six-axis industrial robots

[0026] Taking UR3 six-axis industrial robot as the research object, it is a series industrial robot with 6 degrees of freedom. The robot is described by writing U...

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Abstract

The invention belongs to the technical field of industrial robots, and relates to a combined joint and cartesian space six-axis industrial robot path planning method comprises the following steps of (1) modeling a six-axis industrial robot; (2) restraining a six-axis industrial robot working space ; (3) path planning a six-axis industrial robot joint space; and (4) path planning of the six-axis industrial robot cartesian space. According to the method, the path planning of the six-axis industrial robot is carried out on the basis of the joint space, the movement of human set path can be realized , and the robots movement speed and the acceleration can be controlled. The most important point is very safe and can be tested for multiple times through a whole path, so that a safe and efficientpath is obtained. The method provided by the invention is high in applicability and can be applied to most robots, and therefore, for developers, path planning control can be performed on industrialrobots of different manufacturers.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a path planning method for a six-axis industrial robot combining joints and Cartesian space. Background technique [0002] Industrial robots are mechatronic equipment mainly used in industrial production automation. They are widely used in many fields such as automobile manufacturing, machining, electrical and electronics, and are one of the important symbols to measure a country's technological manufacturing level. my country is a big manufacturing country, and manufacturing is an important pillar of my country's economic development. With the advent of the Industry 4.0 era, the domestic demand for robots is also increasing accordingly. Since the birth and development of industrial robots in the 1950s, foreign industrial robot technology represented by the United States has been at the leading level in the world. my country's industrial robot research star...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/02
Inventor 李卓函徐特庄严高雅楠
Owner DALIAN UNIV OF TECH
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