Track generation method for balancing impact dynamic load in robot picking and placing task

Abstract

The invention discloses a track generation method for balancing impact dynamic load in a robot picking and placing task. The method comprises steps of obtaining link and joint parameters, obtaining apose mathematical model of the six-axis robot joint and the end effector and obtaining intersection point positions of the three intersected connecting rods; calculating the component of the tail endrotating rod to obtain the set axial angles of the three crossed connecting rods; obtaining a Lagrange model by summing the product of the externally applied acting force and the virtual displacementset of the generalized coordinates to be zero; selecting a plurality of path points in a sliding manner for track fitting, obtaining a picking and placing movement track, obtaining a set power value to optimize external load distribution torque, calculating a joint rotation angle according to the set optimized power value, and combining the obtained picking and placing movement track to obtain theoptimized picking and placing movement track, so that the control precision of the robot in the process of completing a picking and placing task is improved, and the accuracy of a picking and placingposition is ensured.

Description

technical field [0001] The invention relates to the technical field of robot grasping, in particular to a trajectory generation method for balancing impact dynamic loads in robot pick-and-place tasks. Background technique [0002] In industrial occasions, robots are usually used to grab products and move from one position to the next. The robot completes the pick-and-place task under dynamic load impact conditions. Since the product itself has its own weight, the robot controller needs to be able to distribute the external load reasonably through the distribution optimization of the dynamic load of the mechanism, so as to achieve smooth movement. At present, the visual sorting task in the industrial environment is usually driven by the controller and the end hand. The claw completes the grabbing action. Take the grabbing of boxed products as an example. First, the controller drives the robot to grab the boxed product, and then lowers the gripper of the robot to the grabbing ...

AI Technical Summary

Problems solved by technology

Since the product itself has its own weight, the robot controller needs to be able to distribute the external load reasonably through the distribution optimization of the dynamic load of the mechanism, so as to achieve smooth movement. At present, the visual sorting task in the industrial environment is usually driven by the controller and the end hand. The claw completes the grabbing action. Take the grabbing of boxed products as an example. First, the controller drives the robot to grab the boxed product, and then lowers the gripper of the robot to the grabbing point through pose calculation, and then drives the robot to grab , move and complete the task of stacking, but due to the influence of the gravity of the object itself, there will be a certain load impact on the control model of the industrial robot, which will lead to the low control accuracy of the robot during the process of completing the picking and placing task, and the picking and placing position will not be correct. precise

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