Industrial robot track section transition method based on non-uniform B spline curve

Abstract

The invention discloses an industrial robot track segment transition method based on a non-uniform B spline curve. According to the method, a multi-track segment transition method is used for processing a motion track designated by a user, specifically, a curve transition model is used for calculating a curve control point; the speed of the track transition region is estimated by the aid of a speed constraint model; and a track interpolation point sequence of the Cartesian space of the robot is output by the aid of the speed planning curve, and machining of the robot is realized. According to the method, G3 continuity and acceleration continuity of the whole track are guaranteed, the joining speed of corners of multiple continuous tracks is increased, sudden acceleration change is avoided, and smooth movement of the center point of the robot tool is achieved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an industrial robot track segment transition method based on non-uniform B-spline curves. Background technique [0002] When an industrial robot performs continuous trajectory planning in Cartesian space, its motion trajectory is generally composed of multiple trajectories, and the quality of trajectory connection processing affects processing quality and work efficiency. If the robot decelerates and stops directly at the corner without processing, it will increase the working time, resulting in a large acceleration and deceleration of the motor, which consumes time and energy; if the speed is maintained and passes the inflection point directly, machine vibration may occur, resulting in unpredictable accuracy Errors affect the quality of the workpiece. [0003] At present, the conventional method for trajectory transition is curve fitting, inserting a micro-curve at th...

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Problems solved by technology

For example, the corner transition is realized through arc transfer, but there will be a sudden change in the normal acceleration of the connection point, which will cause machine vibration; the method of building a real-time fitting curve through the Bezier curve, but the trajectory can only reach G 2 Continuous; moreover, the above method does not consider the connection between the straight line and arc trajectory, which will seriously affect the efficiency of the robot when processing complex curved surface workpieces

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