Smoothing method for Cartesian space motion trail of six-axis series industrial robot

Abstract

The invention relates to a smoothing method for a Cartesian space motion trail of a six-axis series industrial robot. The smoothing method comprises the following steps that a transition path between any two adjacent given motion paths is constructed by using a cubic quasi-uniform spline curve, and an actual transition radius is determined according to the lengths of the two given motion paths and a given transition radius; the position of a starting point of the transition path and the position of an ending point of the transition path are obtained according to the actual transition radius, and the position of a control point of a spline curve serving as the transition path is solved to construct a proper transition path; seven-section S-shaped speed planning is carried out to obtain a function relation between the path length and time, and finally isochronous interpolation is carried out according to the function relation between the path length and time to obtain an actual position of an interpolation point; and then the rotation angle of each joint of the six-axis series industrial robot is obtained through inverse kinematics to drive the six-axis series industrial robot to rotate continuously, so as to obtain a smooth motion trail, and meet the process requirements of actual production.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, in particular to a method for smoothing the Cartesian space motion trajectory of a six-axis series industrial robot. Background technique [0002] The motion trajectory of the six-axis series industrial robot in Cartesian space is determined by the motion path given by multiple motion commands input by the user, the speed planning algorithm and the interpolation algorithm. The motion path (such as straight line and circular arc) given by each motion command is smooth and connected from beginning to end in sequence. However, if the transition process is not performed on the joints of each path, the speed of the six-axis serial industrial robot must be reduced to zero when it passes the joint during speed planning. If it is reduced to zero, then the six-axis series industrial robot will cause serious vibration to the joints of the six-axis series industrial robot due to the discon...

AI Technical Summary

Problems solved by technology

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the defects of low crack image recognition accuracy, insufficient accuracy of feature characterization and inability to quantitatively describe the complex crack details contained in the crack feature characterization method in the prior art.

Images