CN101612734B - Pipeline spraying robot and operation track planning method thereof - Google Patents

Pipeline spraying robot and operation track planning method thereof Download PDF

Info

Publication number
CN101612734B
CN101612734B CN2009100908275A CN200910090827A CN101612734B CN 101612734 B CN101612734 B CN 101612734B CN 2009100908275 A CN2009100908275 A CN 2009100908275A CN 200910090827 A CN200910090827 A CN 200910090827A CN 101612734 B CN101612734 B CN 101612734B
Authority
CN
China
Prior art keywords
spraying
robot
joint
workpiece
planning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2009100908275A
Other languages
Chinese (zh)
Other versions
CN101612734A (en
Inventor
邵君奕
杨向东
刘召
吴丹
陈恳
张传清
陈雁
吴聊
付成龙
刘莉
杨东超
曹文敦
陈明启
路敦民
李金泉
付铁
刘宗政
徐家球
郑林斌
王力强
颜华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Chengdu Aircraft Industrial Group Co Ltd
Original Assignee
Tsinghua University
Chengdu Aircraft Industrial Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University, Chengdu Aircraft Industrial Group Co Ltd filed Critical Tsinghua University
Priority to CN2009100908275A priority Critical patent/CN101612734B/en
Publication of CN101612734A publication Critical patent/CN101612734A/en
Application granted granted Critical
Publication of CN101612734B publication Critical patent/CN101612734B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

The invention discloses a pipeline spraying robot with multiple-redundant degree of freedom and an operation track planning method thereof. The method comprises the following steps: S1, a geometric mode of a sprayed surface is led into a specified module of a drawing software, the specified module automatically generates a no-touching spraying path of the spraying workpiece of the robot in the pipeline; S2, iterative operation is carried out based on a projection gradient method, and the continuous movement track of the joints of the robot is planned; S3, collision detection is carried out according to the continuous movement track of the joints, if colliding, the weighting coefficient of an optimization function is revised, and S2 is restarted to re-plan the continuous movement track of the joint; otherwise, planning ends. The method of the invention has small calculation amount, can ensure no wall collision occurs when the method is used for spraying the inner wall of a special-shaped long path after planning tracks, and has high spraying quality.

Description

Pipeline spraying robot and operation track planning method thereof
Technical field
The present invention relates to the Robotics field, be specifically related to a kind of pipeline spraying robot and operation track planning method thereof with many redundant degree of freedom.
Background technology
At extraordinary industrial circle, the long and narrow inside pipe wall of many complex parts needs spraying operation, because the inner surface of these long and narrow pipes is comparatively complicated, the inner space is very narrow and small, and the spraying technician is difficult to enter, and therefore must adopt robot to spray automatically.
The general redundant degree of freedom robot that adopts carries out the pipeline spraying operation in the prior art.The meaning of " redundancy " is, in order to allow robot finish spraying operation in the pipeline of narrow complexity, just must increase the free degree of robot, and to realize the robot end when following the tracks of spraying profile, robot body can not clash with environmental constraints.When carrying out the robot manipulating task trajectory planning, adopt inverse kinematics to find the solution usually, be divided into two big class methods: local optimum method and global optimization method.The local optimum method depends on current robot position shape, promptly,, search for the extreme point of optimization aim with the step-length of appointing in advance from current robot position shape, and with this initial point as next step, then the feasible zone of local optimum method is a field U (q) of present bit shape; The feasible zone of global optimization method is the whole configuration space C (q) that satisfies constraint, finds separating of global optimum at C (q).Relatively local optimum and global optimization, the former amount of calculation is few, guarantees convergence and stable among a small circle, but instability may occur in a big way; The latter has guaranteed overall optimum, but amount of calculation is bigger, and convergence rate is slow, not even convergence.For practical project, adopt the local optimum method better.
The method of prior art is as expansion Jacobi method, quadratic programming, and key point keeps away the barrier method, all is difficult to find a proper optimization criterion, therefore is not suitable for special-shaped long and narrow pipe inner-wall spraying work planning.For example key point is kept away the barrier method, robot is in long and narrow inner-walls of duct operation, the risk of collision point of robot and long and narrow inner-walls of duct has much certainly so, and these dangerous spots are not fixed, the position shape that is the random device people changes, will seek dangerous spot earlier so each time, and then be optimized, be infeasible like this.And for example, the expansion Jacobi method is to be 1 robot at redundant degree of freedom, is inapplicable for many redundant degree of freedom robot obviously.And for example, quadratic programming will be write the double optimization function, wherein comprises matrix, so the computing complexity.
Therefore said method is not suitable for many redundant degree of freedom robot the long and narrow pipeline of abnormity is carried out spraying operation planning.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of many redundant degree of freedom spray robot is provided and utilizes this kind robot the long and narrow pipeline of abnormity to be carried out the method for planning track of spraying operation.
For achieving the above object, the invention provides a kind of method for planning track with pipeline spraying robot operation of many redundant degree of freedom, this method for planning track is meant that robot in the complex-curved path from origin-to-destination of special-shaped pipeline inwall searching that surrounds of variable cross-section, makes robot finish the pipe inner-wall spraying operation under the situation of as far as possible not colliding inner-walls of duct.For the redundant robot, its joint space dimension a is greater than task space dimension b, given redundant robot's terminal pose, joint space has infinite multiple spot corresponding with it, the set of these points is a-b dimension stream shapes of joint space, make that redundancy robots can be when realizing given terminal attitude, can also be by in this sub spaces change, satisfy as improve that the robot flexibility is avoided unusual, avoided obstacle, to avoid the joint spacing and improve secondary target such as dynamic performance.
Said method may further comprise the steps:
S1 will be imported the particular module of mapping software by the geometrical model of sprayed surface, and particular module generates the nothing of spraying workpiece in pipeline of robot automatically and bumps the spraying path;
S2 carries out interative computation based on projection gradient method, planning robot's joint continuous motion track;
S3 collides check according to joint continuous motion track, if collision is arranged, then revises the weight coefficient of majorized function, returns step S2 and plans joint continuous motion track again; Otherwise finish planning.
Wherein, the step of " particular module generates the nothing of spraying workpiece in pipeline of robot automatically and bumps the spraying path " is specifically as follows among the step S1:
A1 is written into the spraying part model of robot, and draws out by the secondary surface of sprayed surface according to spraying parameter;
A2 selects secondary surface and spraying workpiece, generates both intersections, thereby obtains spraying the spraying path of workpiece;
A3 selects interpolation method, determines the number of the path point of spraying workpiece, and path point is formed path point sequence X according to the order of sequence 0, X 1..., X i..., X n, the path point sequence is derived, in order to robot is carried out the planning of joint trajectories, wherein X i=[x i, y i, z i], x i, y i, z iBe respectively path point X iAt the coordinate figure of X, Y, three reference axis of Z, i=1 ..., n, n are integer.
Wherein, step S2 specifically can comprise:
B1 simulates the central shaft of pipeline, and the function of central shaft is
y = 0 z = f ( x ) , x L ≤ x ≤ x U , - - - ( 1 )
Wherein, x L, x UBe respectively the Origin And Destination of pipeline;
B2, the initial value that makes iterations j is 0, and iteration step length is Δ T, and the initial value of the joint angles of robot is q 0, wherein q 0 = [ q 1 0 , q 2 0 , . . . , q N 0 ] T , N is the number in joint;
B3, the position X of first path point of order spraying workpiece 0=X j, try to achieve initial value q corresponding to the joint angles of robot according to the propulsion equation 0The position of first path point of spraying workpiece be
Figure G2009100908275D00033
To X 0Differentiate obtains X · = X 0 - X ^ Δt ; At formula X 0=X jIn, the sequence number of 0 delegated path point, j represents iterations;
B4, try to achieve each joint of robot and central shaft apart from sum H, and be majorized function with H:
H = Σ i = 1 N w i ( y i 2 + ( z i - f ( x i ) ) 2 ) - - - ( 2 ) ,
W wherein iBe weight coefficient;
B5, getting v is the negative gradient direction of majorized function H, and gets suitable gain k, minimization majorized function H, then
v = - k ▿ H = - k [ ∂ H ∂ q i ] N × 1 - - - ( 3 )
Inverse kinematics equation according to projection gradient method
With formula (3) substitution formula (4), obtain
Figure G2009100908275D00043
B6 is with the initial value q of the joint angles of robot 0Position X with first path point that sprays workpiece 0Derivative Substitution formula (4) obtains
Figure G2009100908275D00045
Then new joint angles value q 1 = q 0 + q · ΔT ;
B7 calculates the new spraying location of workpiece corresponding to new joint angles value q1 according to the propulsion equation X ^ 1 = f ( q 1 ) ;
B8 calculates ΔX = | | X 0 - X ^ 1 | | , If Δ X＞ξ then returns step B2,, obtain spraying the position X of first path point of workpiece until Δ X＜ξ jThe value of the joint angles of corresponding robot; Wherein ξ is default acceptable error value;
B9 makes j=j+1, tries to achieve the value of the joint angles of the corresponding robot of the next path point of spraying workpiece, until the value of the joint angles of the robot of trying to achieve all path points correspondences;
B10 carries out interpolation according to interpolation method to each joint, obtains joint continuous motion track;
B11, terminal pose and tip speed according to robot, whether the fluctuation of check spray distance and spraying rate satisfies constraint, and whether satisfy the joint moment constraint by kinetics equation checking spray distance and spraying rate, if above-mentioned condition all satisfies, end step S2 then, otherwise return step S1.
Wherein, robot can have many redundant degree of freedom, for example 2 redundant degree of freedom.
Wherein, mapping software can be DELMIA software, and correspondingly, particular module is the ArcWelding module.
Wherein, interpolation method is five spline interpolations.
Wherein, spraying parameter comprises spray distance, spraying swath width and spraying swath overlap joint.
Wherein, the spraying workpiece is terminal spray gun.
The present invention also provides a kind of pipeline spraying robot with many redundant degree of freedom that utilizes above-mentioned method for planning track to carry out work planning, comprises spraying workpiece and a plurality of joints that are connected with the spraying workpiece.
Technique scheme has following advantage:
1, the solution of the present invention belongs to the local optimum method, and amount of calculation is little;
2, the solution of the present invention is applicable to that many redundant degree of freedom robot carry out spraying operation planning to the long and narrow pipeline of abnormity, therefore can guarantee on the one hand not to be rebuffed, and can realize high coating quality on the other hand, as spray evenly the accuracy height.
Description of drawings
Fig. 1 is the method flow diagram of the embodiment of the invention;
Fig. 2 is the inverse kinematics solving model of the pipeline spraying robot with many redundant degree of freedom of the embodiment of the invention.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
Fig. 1 is the method flow diagram of the embodiment of the invention; Fig. 2 is the inverse kinematics solving model of the pipeline spraying robot with many redundant degree of freedom of the embodiment of the invention.As depicted in figs. 1 and 2, may further comprise the steps according to the operation track planning method with pipeline spraying robot of many redundant degree of freedom of the present invention:
S1 will be imported the particular module of mapping software by the geometrical model of sprayed surface, the Arc Welding module of DELMIA software for example, and Arc Welding module generates the nothing of spraying workpiece (for example terminal spray gun) in pipeline of robot automatically and bumps the spraying path;
S2 carries out interative computation based on projection gradient method, planning robot's joint continuous motion track;
S3 collides check according to joint continuous motion track, if collision is arranged, then revises the weight coefficient of majorized function, returns step S2 and plans joint continuous motion track again; Otherwise finish planning.For instance, can carry out the collision check under the ProE environment, if being arranged, collision then revises the weight coefficient of collision joint correspondence among the majorized function H, carry out the joint of robot continuous motion trajectory planning of step S2 again, up to checking by collision, at last the result is sent to robot control system, generates the robot control instruction by it.
In the present embodiment, the step of " Arc Welding module generates the nothing of terminal spray gun in pipeline of robot automatically and bumps the spraying path " specifically can comprise among the step S1:
A1 is written into the terminal spray gun model of robot, and draws out by the secondary surface of sprayed surface according to spraying parameter (for example, spray distance, spraying swath width and spraying swath overlap joint);
A2 selects secondary surface and terminal spray gun, generates both intersections, thereby obtains the spraying path of terminal spray gun;
A3, the movement velocity of terminal spray gun (for example according to) selects interpolation method (for example five spline interpolations) as required, determines the number of the path point of terminal spray gun, and path point is formed path point sequence X according to the order of sequence 0, X 1..., X i..., X n, the path point sequence is derived, in order to robot is carried out the planning of joint trajectories, wherein X i=[x i, y i, z i], x i, y i, z iBe respectively path point X iAt the coordinate figure of X, Y, three reference axis of Z (as shown in Figure 2), i=1 ..., n, n are integer.
In the present embodiment, step S2 specifically can comprise:
B1 simulates the central shaft of pipeline, central shaft apart from inner-walls of duct farthest, its function is
y = 0 z = f ( x ) , x L ≤ x ≤ x U , - - - ( 1 )
Wherein, x L, x UBe respectively the Origin And Destination of pipeline;
B2, the initial value that makes iterations j is 0, and iteration step length is Δ T, and the initial value of the joint angles of robot is q 0, wherein q 0 = [ q 1 0 , q 2 0 , . . . , q N 0 ] T , N is the number in joint, N=8 in the present embodiment, and as shown in Figure 2, each joint is respectively 1～joint, joint 8;
B3 makes the position X of first path point of terminal spray gun 0=X j, try to achieve initial value q corresponding to the joint angles of robot according to the propulsion equation 0The position of first path point of terminal spray gun be
Figure G2009100908275D00063
To X 0Differentiate obtains X · = X 0 - X ^ Δt ; At formula X 0=X jIn, the sequence number of 0 delegated path point, j represents iterations;
B4, try to achieve each joint of robot and central shaft apart from sum H, and be majorized function with H:
H = Σ i = 1 N w i ( y i 2 + ( z i - f ( x i ) ) 2 ) - - - ( 2 ) ,
W wherein iBe weight coefficient;
B5, getting v is the negative gradient direction of majorized function H, and gets suitable gain k, minimization majorized function H, then
v = - k ▿ H = - k [ ∂ H ∂ q i ] N × 1 - - - ( 3 )
Inverse kinematics equation according to projection gradient method
Figure G2009100908275D00073
With formula (3) substitution formula (4), obtain
Figure G2009100908275D00074
B6 is with the initial value q of the joint angles of robot 0Position X with first path point of terminal spray gun 0Derivative
Figure G2009100908275D00075
Substitution formula (4) obtains
Figure G2009100908275D00076
Then new joint angles value q 1 = q 0 + q · ΔT ;
B7 calculates corresponding to new joint angles value q according to the propulsion equation 1New terminal spray gun position X ^ 1 = f ( q 1 ) ;
B8 calculates ΔX = | | X 0 - X ^ 1 | | , If Δ X＞ξ then returns step B2,, obtain the position X of first path point of terminal spray gun until Δ X＜ξ jThe value of the joint angles of corresponding robot; Wherein ξ is default acceptable error value;
B9 makes j=j+1, tries to achieve the value of the joint angles of the corresponding robot of the next path point of terminal spray gun, until the value of the joint angles of the robot of trying to achieve all path points correspondences;
B10 carries out interpolation according to interpolation method to each joint, obtains joint continuous motion track;
B11, terminal pose and tip speed according to robot, whether the fluctuation of check spray distance and spraying rate satisfies constraint, and whether satisfy the joint moment constraint by kinetics equation checking spray distance and spraying rate, if above-mentioned condition all satisfies, end step S2 then, otherwise return step S1.
In the present embodiment, robot can have many redundant degree of freedom, for example 2 redundant degree of freedom.
The present invention also provides a kind of pipeline spraying robot with many redundant degree of freedom that utilizes above-mentioned method for planning track to carry out work planning, comprises spraying workpiece and a plurality of joints that are connected with the spraying workpiece.
As can be seen from the above embodiments, the method for planning track of embodiments of the invention is applicable to that many redundant degree of freedom robot carry out spraying operation planning to the long and narrow pipeline of abnormity, therefore can guarantee on the one hand not to be rebuffed, and can realize high coating quality on the other hand, as spray evenly the accuracy height.And this method belongs to the local optimum method, and amount of calculation is little.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.

Claims (7)

1. the robot with many redundant degree of freedom carries out the method for planning track of pipeline spraying operation, may further comprise the steps:
S1 will be imported the particular module of mapping software by the geometrical model of sprayed surface, and described particular module generates the nothing of spraying workpiece in pipeline of robot automatically and bumps the spraying path;
S2 carries out interative computation based on projection gradient method, plans the joint continuous motion track of described robot;
S3 collides check according to described joint continuous motion track, if collision is arranged, then revises the weight coefficient of majorized function, returns step S2 and plans described joint continuous motion track again; Otherwise finish planning;
The step of " described particular module generates the nothing of spraying workpiece in pipeline of robot automatically and bumps the spraying path " comprising among the described step S1:
A1 is written into the spraying part model of described robot, and draws out described by the secondary surface of sprayed surface according to spraying parameter;
A2 selects described secondary surface and described spraying workpiece, generates both intersections, thereby obtains the spraying path of described spraying workpiece;
A3 selects interpolation method, determines the number of the path point of described spraying workpiece, and described path point is formed path point sequence X according to the order of sequence 0, X 1..., X i..., X n, described path point sequence is derived, in order to described robot is carried out the planning of joint trajectories, wherein X i=[x i, y i, z i], x i, y i, z iBe respectively path point X iAt the coordinate figure of X, Y, three reference axis of Z, i=1 ..., n, n are integer;
Described step S2 comprises:
B1 simulates the central shaft of described pipeline;
B2, the initial value that makes iterations j is 0, and iteration step length is Δ T, and the initial value of the joint angles of described robot is q 0
B3, the position X of first path point of order spraying workpiece 0=X j, the sequence number of 0 delegated path point wherein, j represents iterations, tries to achieve initial value q corresponding to the joint angles of described robot according to the propulsion equation 0The position of first path point of spraying workpiece be
Figure FSB00000269003600021
Figure FSB00000269003600022
B4, try to achieve each joint of robot and described central shaft apart from sum H, and be majorized function with H:
H = Σ i = 1 N w i ( y i 2 + ( z i - f ( x i ) ) 2 )
W wherein iBe weight coefficient;
B5, getting v is the negative gradient direction of majorized function H, and gets suitable gain k, minimization majorized function H, and calculate according to the inverse kinematics equation of projection gradient method
Figure FSB00000269003600024
B6, the initial value q of the joint angles of the described robot of substitution 0Position X with first path point that sprays workpiece 0Derivative
Figure FSB00000269003600025
Obtain Then new joint angles value
Figure FSB00000269003600027
B7 calculates corresponding to described new joint angles value q according to the propulsion equation 1The new spraying location of workpiece
Figure FSB00000269003600028
B8 calculates
Figure FSB00000269003600029
If Δ X＞ξ then returns step B2,, obtain spraying the position X of first path point of workpiece until Δ X＜ξ jThe value of the joint angles of corresponding robot; Wherein ξ is default acceptable error value;
B9 makes j=j+1, tries to achieve the value of the joint angles of the corresponding robot of the next path point of spraying workpiece, until the value of the joint angles of the robot of trying to achieve all path points correspondences;
B10 carries out interpolation according to described interpolation method to each joint, obtains joint continuous motion track;
B11, whether the fluctuation of check spray distance and spraying rate satisfies constraint, and whether satisfies the joint moment constraint by kinetics equation checking spray distance and spraying rate, if above-mentioned condition all satisfies, end step S2 then, otherwise return step S1.
2. method for planning track as claimed in claim 1 is characterized in that, described robot has 2 redundant degree of freedom.
3. method for planning track as claimed in claim 1 is characterized in that, described mapping software is a DELMIA software, and described particular module is an Arc Welding module.
4. method for planning track as claimed in claim 1 is characterized in that, described interpolation method is five spline interpolations.
5. method for planning track as claimed in claim 1 is characterized in that, described spraying parameter comprises spray distance, spraying swath width and spraying swath overlap joint.
6. as each described method for planning track among the claim 1-5, it is characterized in that described spraying workpiece is terminal spray gun.
7. pipeline spraying robot with many redundant degree of freedom utilizes that each described method for planning track carries out work planning in the claim 1 to 5, and this robot comprises spraying workpiece and a plurality of joints that are connected with described spraying workpiece.
CN2009100908275A 2009-08-07 2009-08-07 Pipeline spraying robot and operation track planning method thereof Expired - Fee Related CN101612734B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009100908275A CN101612734B (en) 2009-08-07 2009-08-07 Pipeline spraying robot and operation track planning method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009100908275A CN101612734B (en) 2009-08-07 2009-08-07 Pipeline spraying robot and operation track planning method thereof

Publications (2)

Publication Number Publication Date
CN101612734A CN101612734A (en) 2009-12-30
CN101612734B true CN101612734B (en) 2011-01-26

Family

ID=41492706

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009100908275A Expired - Fee Related CN101612734B (en) 2009-08-07 2009-08-07 Pipeline spraying robot and operation track planning method thereof

Country Status (1)

Country Link
CN (1) CN101612734B (en)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102510793B (en) * 2010-06-04 2015-01-28 中国科学院自动化研究所 Method and system for generating trajectory of robot with continuous acceleration
CN102298391A (en) * 2011-04-27 2011-12-28 哈尔滨工业大学 Motion trail planning method for heavy-duty industrial robot in operating space
CN102500498B (en) * 2011-11-11 2014-06-04 江苏科技大学 Optimization method for spray gun track of spraying robot on irregular polyhedron
CN102527554B (en) * 2012-02-29 2013-10-30 清华大学 Spray gun track planning method for free-form surface spraying robot
CN103383251B (en) * 2012-05-04 2016-04-06 中国石油天然气股份有限公司 A kind of arbitrarily angled pipeline in space curved baiting method back and forth
CN103568012B (en) * 2013-10-24 2015-10-21 安徽埃夫特智能装备有限公司 A kind of planing method of arc welding robot biplane swinging arc track
CN104029203B (en) * 2014-06-18 2017-07-18 大连大学 Realize the paths planning method of space manipulator avoidance
CN104331542B (en) * 2014-08-12 2017-10-03 清华大学 A kind of spray robot erect-position planing method of large-scale free form surface
CN105045098B (en) * 2015-05-29 2017-11-21 希美埃（芜湖）机器人技术有限公司 A kind of control method of Control During Paint Spraying by Robot track automatic creation system
CN105478285B (en) * 2016-02-14 2017-08-25 中国人民解放军后勤工程学院 A kind of irregular curved tube inwall thick coating method for planning track of aerial spraying
US20200117210A1 (en) * 2017-07-28 2020-04-16 Qualcomm Incorporated Auto-Exploration Control of a Robotic Vehicle
CN107876333B (en) * 2017-10-30 2019-07-16 广州汽车集团乘用车有限公司 A kind of glue spreader control method and device
CN108555904B (en) * 2018-01-10 2020-12-01 苏州工业职业技术学院 Method for optimizing operation performance of surface modification robot
CN109079780B (en) * 2018-08-08 2020-11-10 北京理工大学 Distributed mobile mechanical arm task layered optimization control method based on generalized coordinates
CN109541997B (en) * 2018-11-08 2020-06-02 东南大学 Spraying robot rapid intelligent programming method for plane/approximate plane workpiece
CN109623206B (en) * 2018-12-19 2020-05-19 清华大学 Method for optimizing off-line planning welding gun pose in robot pipeline welding
CN109865621B (en) * 2019-03-20 2021-03-19 青岛金光鸿智能机械电子有限公司 Spraying pose splitting method and application
CN110405765A (en) * 2019-07-29 2019-11-05 苏州工业职业技术学院 Plasma torch robot orthogonal test method with redundant degree of freedom
CN110826242B (en) * 2019-11-14 2023-04-11 兰州理工大学 System and method for optimizing spraying track in pipeline
CN111300409A (en) * 2020-02-16 2020-06-19 上海柴孚机器人有限公司 Industrial robot path planning method
CN111571586B (en) * 2020-05-07 2020-12-11 江苏原力数字科技股份有限公司 Dynamic constraint method for inverse dynamics freedom degree
CN114571475A (en) * 2022-02-24 2022-06-03 中山市鸿之远工业机器人有限公司 Control memory programming method, spraying device, control device and storage medium
CN116371696B (en) * 2023-04-12 2023-11-07 福州大学 Curved surface spraying method and system of planar pattern based on industrial robot

Also Published As

Publication number Publication date
CN101612734A (en) 2009-12-30

Similar Documents

Publication Publication Date Title
CN101612734B (en) Pipeline spraying robot and operation track planning method thereof
CN102646148B (en) Motion trajectory planning method of mechanical arm of humanoid robot for preventing collision
Lu et al. Collision-free and smooth joint motion planning for six-axis industrial robots by redundancy optimization
Ollero et al. Stability analysis of mobile robot path tracking
US8600554B2 (en) System and method for robot trajectory generation with continuous accelerations
JP6279862B2 (en) How to control a redundant robot
CN111152224B (en) Dual-optimization robot motion trajectory optimization method
US8972056B2 (en) Method of finding feasible joint trajectories for an n-dof robot with rotation invariant process (n>5)
CN105183009B (en) A kind of redundant mechanical arm method for controlling trajectory
CN113146610B (en) Mechanical arm tail end track tracking algorithm based on zero space obstacle avoidance
CN108772835B (en) Obstacle and physical limit avoiding method
Mu et al. A hybrid obstacle-avoidance method of spatial hyper-redundant manipulators for servicing in confined space
CN105234930A (en) Control method of motion of redundant mechanical arm based on configuration plane
Ata et al. COLLISION-FREE TRAJECTORY PLANNING FOR MANIPULATORS USING GENERALIZED PATTERN SEARCH.
Campos de Almeida et al. Automated synthesis of modular manipulators’ structure and control for continuous tasks around obstacles
CN114378830B (en) Robot wrist joint singular avoidance method and system
Jia et al. Coordination of a nonholonomic mobile platform and an on-board manipulator
CN114063621A (en) Wheeled robot formation tracking and obstacle avoidance control method
Chen et al. A novel autonomous obstacle avoidance path planning method for manipulator in joint space
JP7088318B2 (en) Control device
Wang et al. Collision-free path planning for arc welding robot based on ida-de algorithm
US20230294287A1 (en) Swept volume deformation
Fang et al. RRT-based motion planning with sampling in redundancy space for robots with anthropomorphic arms
Yang et al. Collision avoidance trajectory planning for a dual-robot system: using a modified APF method
Gao et al. Optimal Motion Planning Considering Task Redundancy in Trajectory Tracking Applications for Industrial Robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C41 Transfer of patent application or patent right or utility model
TA01 Transfer of patent application right

Effective date of registration: 20100108

Address after: 100084-82 mailbox, Tsinghua Yuan, Haidian District, Beijing, Beijing

Applicant after: Tsinghua University

Co-applicant after: Chengdu aircraft industry (Group) Co., Ltd.

Address before: Tsinghua Yuan, Beijing, Beijing, 100084-82 mailbox

Applicant before: Tsinghua University

C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110126

Termination date: 20170807

CF01 Termination of patent right due to non-payment of annual fee