CN102385386B - Line-heating intelligent robot path planning method - Google Patents
Line-heating intelligent robot path planning method Download PDFInfo
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- CN102385386B CN102385386B CN 201110286139 CN201110286139A CN102385386B CN 102385386 B CN102385386 B CN 102385386B CN 201110286139 CN201110286139 CN 201110286139 CN 201110286139 A CN201110286139 A CN 201110286139A CN 102385386 B CN102385386 B CN 102385386B
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Abstract
The invention discloses line-heating intelligent robot path planning method. A five-axis linkage robot is used. The method comprises the following steps: (1) determining a moving space and a degree of freedom of the robot; (2) determining an object path of the robot; (3) determining an end pose of the robot; (4) determining an amount of exercise and a moving speed of each joint; (5) performing servo control of the robot; (6) optimizing the motion path. Through using the method to optimize the line-heating path, a working efficiency of the system can be raised furthest.
Description
Technical field
The present invention relates to the flame forming plate technical field, particularly a kind of line-heating intelligent robot path planning method.
Background technology
The flame forming plate path planning is divided according to working environment can be divided into two kinds; One, based on the global path planning of model, the full detail of operating environment is known, is called again static state or off-line path planning; Two, based on the multidate information local paths planning, operating environment information is unknown or part the unknown all, is called again dynamic or online path planning.
The path planning of flame forming plate intelligent robot is a kind of multidate information local paths planning, its task is to seek robot moves to terminal from top path at the curved surface of complexity, guarantee that simultaneously the motion process medium velocity is even, and constantly keep vertical so that the robot end is the firelock head with the hot spot that needs heating.Flame forming plate intelligent robot path planning mainly solves three problems: (1) seeks the destination path of robot; (2) the terminal pose of searching robot.(3) make robot move to end from top, and guarantee even speed on the machining path, on the non-machining path, adopt accelerated motion, strive for minimum time.(4) finish the movement locus of as far as possible optimizing robot under the prerequisite of above task.
Summary of the invention
Technical matters to be solved by this invention provides a kind of line-heating intelligent robot path planning method, by the optimization of the method to the flame forming plate path, has at utmost improved the work efficiency of this system.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of line-heating intelligent robot path planning method, adopt the five-axle linkage robot, and comprise the steps:
(1) determines space and the degree of freedom of robot;
(2) determine the destination path of robot;
(3) determine the terminal pose of robot;
(4) determine amount of exercise, the movement velocity in each joint;
(5) the servo-actuated control of robot;
(6) motion path optimization.
Preferably, the space of the definite robot in the described step (1) is: X-axis: 10-14 rice, and Y-axis: 2.5-4.5 rice, Z axis: 0.8-1.5 rice, the C1 axle: 0～180 °, C2 axle: 0～360 °; Degree of freedom is 4.
Preferably, the space of the definite robot in the described step (1) is: X-axis: 12 meters, and Y-axis: 3.5 meters, Z axis: 1.2 meters, the C1 axle: 0～180 °, C2 axle: 0～360 °; Degree of freedom is 4.
Preferably, the destination path of the definite robot in the described step (2) is made preliminary path planning according to fiery road, heating intensity, deformation requirement, steel plate characteristic, and finds out Processing Curve on the curved surface and the particular point on the curve.
Preferably, the terminal pose of the definite robot in the described step (3), the steel plate curved surface of processing is taken the particular point position that needs are processed on the current location of then determining robot firelock head according to the internal and external parameter of camera and the steel plate by two cameras that are mounted to different angles; Centered by particular point, get the small pieces curved surface again; Then try to achieve the surface equation of this small pieces curved surface by surface fitting, cross the normal vector equation that particular point calculates this little curved surface; Last according to the optimum distance between firelock head and the hot spot, can be calculated robot end's pose.Particularly, particular point is the P point, gets the small pieces curved surface centered by the P point, when abundant hour of this little curved surface, can be approximated to be a plane, asks for the normal vector L of this plane particular point
1The C2 axle finally need to move to normal vector L
1On, according to the distance D that adds between heat request adjustment firelock head and the steel plate.At last according to P point coordinate, space line L
1Equation calculates and straight line L
1Distance is the P ' point coordinate of D.P ' is robot end's pose.
Preferably, the servo-actuated control of the firelock head of the robot in the described step (5) according to terminal angle and the initial attitude of robot, against solving the robot due amount of exercise in each joint, then solves the speed in each joint.
Preferably, motion path optimization in the described step (6) is mainly the selection of non-machining path, the current coordinate of the two-end-point coordinate of Processing Curve and robot terminal as required, seek optimal path, between two-end-point s1, the s2 of the current coordinate points of first calculating robot's terminal and need Processing Curve apart from d
1, d
2, compare again d
1, d
2Size; If d
1＜d
2, then the non-machining path of robot is selected: adopt rectilinear motion to move to end points s1 by current location, then hold to s2 from the s1 end motion; If d
1＞d
2, then the non-machining path of robot is selected: adopt rectilinear motion to move to end points s2 by current location, then hold to s1 from the s2 end motion.
Preferably, in machining path, firelock head and the steel plate curved surface of robot keep a determining deviation, carry out uniform motion; In non-machining path, robot adopts and accelerates rectilinear motion.
The present invention has following beneficial effect with respect to prior art: a kind of line-heating intelligent robot path planning method of the present invention, by the optimization of the method to the flame forming plate path, at utmost improved the work efficiency of this system.The firelock head of robot of the present invention is located in real time, guarantees the constant distance between firelock head and the steel plate, thereby guarantees that every some heating intensity on the machining path is even, simultaneously the firelock head is effectively protected.In addition, on non-machining path (path that does not need flame), the current coordinate of the rising of Processing Curve, initial point coordinate and robot as required, seek optimal path, and carry out accelerated motion in this path, shorten run duration, namely shorten non-process time, enhance productivity.
Description of drawings
Fig. 1 is robot terminal pose of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited to this.
A kind of line-heating intelligent robot path planning method adopts the five-axle linkage robot, comprises the steps:
(1) determines space and the degree of freedom of robot;
(2) determine the destination path of robot;
(3) determine the terminal pose of robot;
(4) determine amount of exercise, the movement velocity in each joint;
(5) the servo-actuated control of robot;
(6) motion path optimization.
The space of the definite robot in the step (1) is: X-axis: 12 meters, and Y-axis: 3.5 meters, Z axis: 1.2 meters, the C1 axle: 0～180 °, C2 axle: 0～360 °; Degree of freedom is 4.
The destination path of the definite robot in the step (2) is made preliminary path planning according to fiery road, heating intensity, deformation requirement, steel plate 1 characteristic, finds out Processing Curve on steel plate 1 curved surface and the particular point on this curve.
The terminal pose of the definite robot in the step (3), the steel plate curved surface of processing is taken the particular point position that needs are processed on the current location of then determining robot firelock head 2 according to the internal and external parameter of camera and the steel plate 1 by two cameras that are mounted to different angles; Centered by particular point, get the small pieces curved surface again; Then try to achieve the surface equation of this small pieces curved surface by surface fitting, cross the normal vector equation that particular point calculates this little curved surface; Last according to the optimum distance between firelock head 2 and the hot spot, can be calculated robot end's pose.Particularly, particular point is the P point, gets the small pieces curved surface centered by the P point, when abundant hour of this little curved surface, can be approximated to be a plane, asks for the normal vector L of this plane particular point
13.The C2 axle finally need to move to normal vector L
1On 3, according to the distance D that adds between heat request adjustment firelock head and the steel plate.At last according to P point coordinate, space line L
13 equations calculate and straight line L
1Distance is the P ' point coordinate of D.P ' is robot end's pose, as shown in Figure 1.
The servo-actuated control of the firelock head of the robot in the step (5) according to terminal angle and the initial attitude of robot, against solving the robot due amount of exercise in each joint, then solves the speed in each joint.
Motion path optimization in the step (6) is mainly the selection of non-machining path, the current coordinate of the two-end-point coordinate of Processing Curve and robot terminal as required, seek optimal path, between two-end-point s1, the s2 of the current coordinate points of first calculating robot's terminal and need Processing Curve apart from d
1, d
2, compare again d
1, d
2Size; If d
1＜d
2, then the non-machining path of robot is selected: adopt rectilinear motion to move to end points s1 by current location, then hold to s2 from the s1 end motion; If d
1＞d
2, then the non-machining path of robot is selected: adopt rectilinear motion to move to end points s2 by current location, then hold to s1 from the s2 end motion.And in machining path, the firelock head 2 of robot keeps corresponding spacing with steel plate 1 curved surface, carries out uniform motion; In non-machining path, robot adopts and accelerates rectilinear motion.
Above-described embodiment is preferred embodiment of the present invention only, is not to limit practical range of the present invention.Be that all equalizations of doing according to content of the present invention change and modification, all contained by claim of the present invention scope required for protection.
Claims (2)
1. a line-heating intelligent robot path planning method is characterized in that: comprise the steps:
(1) determines space and the degree of freedom of robot;
(2) determine the destination path of robot;
(3) determine the terminal pose of robot;
(4) determine amount of exercise, the movement velocity in each joint;
(5) the servo-actuated control of robot;
(6) motion path optimization;
The destination path of the definite robot in the described step (2) is made preliminary path planning according to fiery road, heating intensity, deformation requirement, steel plate characteristic, and finds out Processing Curve on the steel plate curved surface and the particular point on this curve;
The terminal pose of the definite robot in the described step (3), by two cameras that are mounted to different angles processing steel plate (1) curved surface is taken, then need on the current location of robot firelock head (2) and the steel plate to be determined the particular point position that processes according to the internal and external parameter of camera; Centered by particular point, get the small pieces curved surface again; Then try to achieve the surface equation of this small pieces curved surface by surface fitting, cross the normal vector equation that particular point calculates this little curved surface; Last according to the optimum distance between firelock head and the hot spot, can be calculated robot end's pose;
The servo-actuated control of the firelock head of the robot in the described step (5) according to terminal angle and the initial attitude of robot, against solving the robot due amount of exercise in each joint, then solves the speed in each joint;
Motion path optimization in the described step (6) is mainly the selection of non-machining path, the current coordinate of the two-end-point coordinate of Processing Curve and robot terminal as required, seek optimal path, between two-end-point s1, the s2 of the current coordinate points of first calculating robot's terminal and need Processing Curve apart from d
1, d
2, compare again d
1, d
2Size; If d
1＜d
2, then the non-machining path of robot is selected: adopt rectilinear motion to move to end points s1 by current location, then hold to s2 from the s1 end motion; If d
1＞d
2, then the non-machining path of robot is selected: adopt rectilinear motion to move to end points s2 by current location, then hold to s1 from the s2 end motion.
2. line-heating intelligent robot path planning method according to claim 1, it is characterized in that: in machining path, firelock head and the steel plate curved surface of robot keep a determining deviation, carry out uniform motion; In non-machining path, robot adopts and accelerates rectilinear motion.
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| CN 201110286139 CN102385386B (en) | 2011-09-24 | 2011-09-24 | Line-heating intelligent robot path planning method |
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| CN102385386B true CN102385386B (en) | 2013-10-16 |
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| CN105259897B (en) * | 2014-06-26 | 2019-02-05 | 联想(北京)有限公司 | A kind of control method and electronic equipment |
| CN106734646B (en) * | 2016-11-29 | 2018-10-09 | 广东工业大学 | A kind of hull complexity outside plate processing firelock head verticality keeping method and device |
| CN107008825A (en) * | 2017-03-15 | 2017-08-04 | 华中科技大学 | A kind of processing method for ship complex curvatures sheet metal forming |
| CN111054842B (en) * | 2019-12-27 | 2021-05-28 | 无锡超通智能制造技术研究院有限公司 | Bending loading and unloading robot track autonomous generation method |
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| CN102129716A (en) * | 2011-03-01 | 2011-07-20 | 广东工业大学 | Method for fitting curved surface of water-fire bending plate |
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| CN101369144A (en) * | 2008-09-28 | 2009-02-18 | 广东工业大学 | Processing method for three-dimensional stereo forming of line heating plate bender numerical control system |
| CN101382795A (en) * | 2008-09-28 | 2009-03-11 | 广东工业大学 | Multi-shaft motion control system for water-fire heating plate bending machine |
| CN102129716A (en) * | 2011-03-01 | 2011-07-20 | 广东工业大学 | Method for fitting curved surface of water-fire bending plate |
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