CN104570735A - Arc-shaped movement-track algorithm for palletizing robot - Google Patents
Arc-shaped movement-track algorithm for palletizing robot Download PDFInfo
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Abstract
The invention provides an arc-shaped movement-track algorithm for a palletizing robot. The arc-shaped movement-track algorithm comprises the following steps: (2) acquiring the coordinate P1( x1, y1, z1) of the current position of the palletizing robot, and the coordinate P3 (x3, y3, z3) of the target position of the palletizing robot; (3) enabling the palletizing robot to read an input height parameter H, and converting the current-position coordinate P1 and the target-position coordinate P3 into a world coordinate; (4) bringing the current-position coordinate P1, the target-position coordinate P3 and the height parameter H into a basic arithmetic function so as to obtain an interim coordinate P2; (5) converting the obtained interim coordinate P2 into a coordinate under the world coordinate, sending the obtained coordinate to an application layer through a port; (6) using a Circle command to plan an arc-shaped movement track at a user application layer of the palletizing robot. Because the movement track of the palletizing robot is planned into a parabola, the movement distance of the robot is shortened, so that the movement time of the robot in each period is shortened, and besides, the movement of the robot is more flexible.
Description
Technical field
The present invention relates to robot palletizer, especially a kind of robot palletizer arcuate movement Trajectory Arithmetic.
Background technology
Robot palletizer is mainly used in heavy load, and high velocity environment substitutes the occasion of manual work, and its most distinct issues are exactly want beat fast, energy-conservation, flexible etc.As shown in Figure 1, traditional piling action is all the movement locus based on " door " font mechanism substantially.Course of action is divided into three steps, and first step straight line captures downwards, then pulls up translation, vertically puts down to during target location, then returns according to contrary action, continues next beat.Because when being all through rectilinear motion interpolation, robot motion compares mechanization at every turn, flexible not, walking path has two flex points in the middle of right angle in addition, will have three acceleration and deceleration in half period, and institute in this way action speed consuming time is slow, flexible not.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of robot palletizer arcuate movement Trajectory Arithmetic, reduce robot travel, make it reduce the run duration in each cycle, make its motion process more flexibly flexible simultaneously, and reduce electricity usage cost by reducing working time.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of robot palletizer arcuate movement Trajectory Arithmetic, comprises the following steps:
(1) the coordinate P1(x1 of robot palletizer current location is set, y1, z1), the coordinate P3(x3 of target location, y3, z3), the coordinate P2(x2 of transition point, y2, z2); Coordinate points P1 is the starting point of arcuate movement track, and coordinate points P3 is the terminal of arcuate movement track, coordinate points P2(x2, y2, z2) be the transition point of coordinate points P1 to coordinate points P3; The vertical height that coordinate points P2 arrives the straight line formed by coordinate points P1, P3 is H;
(2) the coordinate P1(x1 of robot palletizer current location is obtained, y1, z1) and the coordinate P3(x3 of target location, y3, z3);
(3) robot palletizer reads the height parameter H of input, and current position coordinates P1 and target location coordinate P3 is converted into world coordinates;
(4) interim coordinate P2 is obtained by current position coordinates P1, the target location coordinate P3 after conversion and height parameter H substitution underlying algorithm function;
(5) the interim coordinate P2 asked for is converted into coordinate under world coordinate system, and is sent to application layer by interface;
(6) Circle instruction operation planning circular motion track is used at the user application layer of robot palletizer.
A plane can be determined by three dimensional space coordinate point, this plane plans a circular curve.Such as P1(x1, y1, z1), P2 (x2, y2, z2), P3 (x3, y3, z3), if the coordinate of known three points, if three points not point-blank then can algorithm simultaneously through the space circular arc of three points, P2 point is transition point, P1 is starting point, P3 point is terminating point, and the direction of motion of arc track is by P1 through P2 to P3, and the circular arc center of circle that angle becomes according to three-point shape is tried to achieve to the vector of unit length dot product of P1 and P3.Capture some P1 during onsite application robot palletizer known, set-point P3 is known, will arrive according to P2 the coordinate that the vertical height H of straight line that P1P3 formed asks for P2 point now.Then according to the coordinate planning parabolic path of P1, P2, P3 point, the track of the Circle instruction operation planning of robot is used.
As improvement, in described step (4), underlying algorithm function f unction P2=FuncSolve(P1, P3, h), obtain middle coordinate according to P1, P3 point: dist=(P1+P3)/2; Dist comprises three element dist(1) X-axis coordinate, dist(2) Y-axis coordinate, dist(3) Z axis coordinate; Robot palletizer the 4th axle is perpendicular to surface level, the parabolic path that TCP runs is perpendicular to XOY plane, suppose that a side vector perpendicular to this plane is (1, k, 0), then k=(P1 (1) – P3 (1))/(P3 (2)-P1 (2)); And then ask for P2 (2) the i.e. coordinate of intermediate point Y-axis according to circular curve in the distance that XOY plane projects; Concrete formula is as follows:
fun = (y)(point3(1)+k*point3(2)-k*y-dist(1))^2+(y-dist(2))^2+...
(((point3(1)+k*point3(2)-k*y-dist(1))*(point3(1)-point1(1))+(y-dist(2))*(point3(2)-point1(2)))/(point3(3)-point1(3)))^2-high^2
P2（2）= FSOLVE(fun，1)
The value of wherein FSOLVE is changes persuing amount when being y, fun=1 y;
Then ask for the value of P2 (1) according to the value of known k, P2 (2), formula is as follows:
P2(1) = point3(1)+k*point3(2)-k*Y
Finally obtain P2 (3):
P2(3)=dist(3)-((point3(1)+k*point3(2)-k*Y-dist(1))*(point3(1)-point1(1))+(Y-dist(2))*(point3(2)-point1(2)))/(point3(3)-point1(3))。
As improvement, described algorithm application in parallel rod stacker crane device people, if publication number is a kind of parallel rod stacker crane robot of 103010764A.
The beneficial effect that the present invention is compared with prior art brought is:
By the Motion trajectory of robot palletizer parabolically, reduce robot travel, make it reduce the run duration in each cycle, make its motion process more flexibly flexible simultaneously, and reduce electricity usage cost by reducing working time.
Accompanying drawing explanation
Fig. 1 is existing robot palletizer movement locus.
Fig. 2 is robot palletizer movement locus of the present invention.
Fig. 3 is algorithm flow chart of the present invention.
Embodiment
Below in conjunction with Figure of description, the invention will be further described.
As shown in Figure 2,3, a kind of robot palletizer arcuate movement Trajectory Arithmetic, this robot palletizer is parallel rod stacker crane device people, and algorithm comprises the following steps:
(1) the coordinate P1(x1 of robot palletizer current location is set, y1, z1), the coordinate P3(x3 of target location, y3, z3), the coordinate P2(x2 of transition point, y2, z2); Coordinate points P1 is the starting point of arcuate movement track, and coordinate points P3 is the terminal of arcuate movement track, coordinate points P2(x2, y2, z2) be the transition point of coordinate points P1 to coordinate points P3; The vertical height that coordinate points P2 arrives the straight line formed by coordinate points P1, P3 is H;
(2) the coordinate P1(x1 of robot palletizer current location is obtained, y1, z1) and the coordinate P3(x3 of target location, y3, z3);
(3) robot palletizer reads the height parameter H of input, and current position coordinates P1 and target location coordinate P3 is converted into world coordinates;
(4) interim coordinate P2 is obtained by current position coordinates P1, the target location coordinate P3 after conversion and height parameter H substitution underlying algorithm function;
(5) the interim coordinate P2 asked for is converted into coordinate under world coordinate system, and is sent to application layer by interface;
(6) Circle instruction operation planning circular motion track is used at the user application layer of robot palletizer.
Underlying algorithm function f unction P2=FuncSolve(P1, P3, h), obtain middle coordinate according to P1, P3 point: dist=(P1+P3)/2; Dist comprises three element dist(1) X-axis coordinate, dist(2) Y-axis coordinate, dist(3) Z axis coordinate; Robot palletizer the 4th axle is perpendicular to surface level, the parabolic path that TCP runs is perpendicular to XOY plane, suppose that a side vector perpendicular to this plane is (1, k, 0), then k=(P1 (1) – P3 (1))/(P3 (2)-P1 (2)); And then ask for P2 (2) the i.e. coordinate of intermediate point Y-axis according to circular curve in the distance that XOY plane projects; Concrete formula is as follows:
fun = (y)(point3(1)+k*point3(2)-k*y-dist(1))^2+(y-dist(2))^2+...
(((point3(1)+k*point3(2)-k*y-dist(1))*(point3(1)-point1(1))+(y-dist(2))*(point3(2)-point1(2)))/(point3(3)-point1(3)))^2-high^2
P2（2）= FSOLVE(fun，1)
The value of wherein FSOLVE is changes persuing amount when being y, fun=1 y;
Then ask for the value of P2 (1) according to the value of known k, P2 (2), formula is as follows:
P2(1) = point3(1)+k*point3(2)-k*Y
Finally obtain P2 (3):
P2(3)=dist(3)-((point3(1)+k*point3(2)-k*Y-dist(1))*(point3(1)-point1(1))+(Y-dist(2))*(point3(2)-point1(2)))/(point3(3)-point1(3))。
Claims (3)
1. a robot palletizer arcuate movement Trajectory Arithmetic, is characterized in that, comprises the following steps:
(1) the coordinate P1(x1 of robot palletizer current location is set, y1, z1), the coordinate P3(x3 of target location, y3, z3), the coordinate P2(x2 of transition point, y2, z2); Coordinate points P1 is the starting point of arcuate movement track, and coordinate points P3 is the terminal of arcuate movement track, coordinate points P2(x2, y2, z2) be the transition point of coordinate points P1 to coordinate points P3; The vertical height that coordinate points P2 arrives the straight line formed by coordinate points P1, P3 is H;
(2) the coordinate P1(x1 of robot palletizer current location is obtained, y1, z1) and the coordinate P3(x3 of target location, y3, z3);
(3) robot palletizer reads the height parameter H of input, and current position coordinates P1 and target location coordinate P3 is converted into world coordinates;
(4) interim coordinate P2 is obtained by current position coordinates P1, the target location coordinate P3 after conversion and height parameter H substitution underlying algorithm function;
(5) the interim coordinate P2 asked for is converted into coordinate under world coordinate system, and is sent to application layer by interface;
(6) Circle instruction operation planning circular motion track is used at the user application layer of robot palletizer.
2. a kind of robot palletizer arcuate movement Trajectory Arithmetic according to claim 1, is characterized in that: in described step (4), underlying algorithm function f unction P2=FuncSolve(P1, P3, h), middle coordinate is obtained according to P1, P3 point: dist=(P1+P3)/2;
Dist comprises three element dist(1) X-axis coordinate, dist(2) Y-axis coordinate, dist(3) Z axis coordinate; Robot palletizer the 4th axle is perpendicular to surface level, the parabolic path that TCP runs is perpendicular to XOY plane, suppose that a side vector perpendicular to this plane is (1, k, 0), then k=(P1 (1) – P3 (1))/(P3 (2)-P1 (2)); And then ask for P2 (2) the i.e. coordinate of intermediate point Y-axis according to circular curve in the distance that XOY plane projects; Concrete formula is as follows:
fun = (y)(point3(1)+k*point3(2)-k*y-dist(1))^2+(y-dist(2))^2+...
(((point3(1)+k*point3(2)-k*y-dist(1))*(point3(1)-point1(1))+(y-dist(2))*(point3(2)-point1(2)))/(point3(3)-point1(3)))^2-high^2
P2（2）= FSOLVE(fun，1)
The value of wherein FSOLVE is changes persuing amount when being y, fun=1 y;
Then ask for the value of P2 (1) according to the value of known k, P2 (2), formula is as follows:
P2(1) = point3(1)+k*point3(2)-k*Y
Finally obtain P2 (3):
P2(3)=dist(3)-((point3(1)+k*point3(2)-k*Y-dist(1))*(point3(1)-point1(1))+(Y-dist(2))*(point3(2)-point1(2)))/(point3(3)-point1(3))。
3. a kind of robot palletizer arcuate movement Trajectory Arithmetic according to claim 1, is characterized in that: described algorithm application is in parallel rod stacker crane device people.
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| CN106272429A (en) * | 2016-09-14 | 2017-01-04 | 上海大学 | Additional shaft motion planning method in a kind of planer-type lifting machine people working cell |
| CN106403950A (en) * | 2016-06-24 | 2017-02-15 | 电子科技大学 | A robotic palletizer path planning method based on reference information |
| CN107479581A (en) * | 2017-09-21 | 2017-12-15 | 北京京东尚科信息技术有限公司 | Container piles up control device, system, method and storage medium |
| CN107571258A (en) * | 2017-08-31 | 2018-01-12 | 广州泰行智能科技有限公司 | A kind of operating path planning method and device based on mechanical arm |
| CN107972035A (en) * | 2018-01-02 | 2018-05-01 | 北京翰辰自动化系统有限公司 | A kind of industrial robot programmed set of instructions and its graphic processing method |
| WO2018120210A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Method and device for determining position information about stacking point, and robot |
| CN110587598A (en) * | 2019-08-08 | 2019-12-20 | 南通大学 | Stacking robot path optimization algorithm based on single-chip microcomputer |
| CN110587576A (en) * | 2019-08-08 | 2019-12-20 | 南通大学 | Stacking robot based on single chip microcomputer |
| CN110815230A (en) * | 2019-11-21 | 2020-02-21 | 广东力生智能有限公司 | Six-axis palletizing robot pose adapting method based on virtual sampling |
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Cited By (20)
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| CN105415372B (en) * | 2015-12-09 | 2017-04-12 | 常州汉迪机器人科技有限公司 | Multi-joint robot track planning method under constraint of safety space |
| CN105415372A (en) * | 2015-12-09 | 2016-03-23 | 常州汉迪机器人科技有限公司 | Multi-joint robot track planning method under constraint of safety space |
| CN106403950A (en) * | 2016-06-24 | 2017-02-15 | 电子科技大学 | A robotic palletizer path planning method based on reference information |
| CN106403950B (en) * | 2016-06-24 | 2019-06-21 | 电子科技大学 | A kind of robot palletizer method for planning track based on reference information |
| CN106272429A (en) * | 2016-09-14 | 2017-01-04 | 上海大学 | Additional shaft motion planning method in a kind of planer-type lifting machine people working cell |
| CN106272429B (en) * | 2016-09-14 | 2018-12-07 | 上海大学 | Additional shaft motion planning method in a kind of planer-type lifting machine people working cell |
| WO2018120210A1 (en) * | 2016-12-30 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Method and device for determining position information about stacking point, and robot |
| CN107571258A (en) * | 2017-08-31 | 2018-01-12 | 广州泰行智能科技有限公司 | A kind of operating path planning method and device based on mechanical arm |
| CN107479581A (en) * | 2017-09-21 | 2017-12-15 | 北京京东尚科信息技术有限公司 | Container piles up control device, system, method and storage medium |
| US11446824B2 (en) | 2017-09-21 | 2022-09-20 | Beijing Jingdong Qianshi Technology Co., Ltd. | Palletizing control device, system and method and storage medium |
| CN107972035A (en) * | 2018-01-02 | 2018-05-01 | 北京翰辰自动化系统有限公司 | A kind of industrial robot programmed set of instructions and its graphic processing method |
| US20210245364A1 (en) * | 2018-04-25 | 2021-08-12 | Abb Schweiz Ag | Method And Control System For Controlling Movement Trajectories Of A Robot |
| CN110587598A (en) * | 2019-08-08 | 2019-12-20 | 南通大学 | Stacking robot path optimization algorithm based on single-chip microcomputer |
| CN110587576A (en) * | 2019-08-08 | 2019-12-20 | 南通大学 | Stacking robot based on single chip microcomputer |
| CN110815230A (en) * | 2019-11-21 | 2020-02-21 | 广东力生智能有限公司 | Six-axis palletizing robot pose adapting method based on virtual sampling |
| CN110815230B (en) * | 2019-11-21 | 2022-02-22 | 广东力生智能有限公司 | Six-axis palletizing robot pose adapting method based on virtual sampling |
| CN113547525A (en) * | 2021-09-22 | 2021-10-26 | 天津施格机器人科技有限公司 | Control method of robot controller special for stacking |
| CN113547525B (en) * | 2021-09-22 | 2022-01-14 | 天津施格机器人科技有限公司 | Control method of robot controller special for stacking |
| CN113878574A (en) * | 2021-09-28 | 2022-01-04 | 浙江大学 | Robot stacking process programming method |
| CN113878574B (en) * | 2021-09-28 | 2023-09-29 | 浙江大学 | Robot palletizing process programming method |
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