CN104570735B - A kind of robot palletizer arcuate movement Trajectory Arithmetic - Google Patents
A kind of robot palletizer arcuate movement Trajectory Arithmetic Download PDFInfo
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Abstract
A kind of robot palletizer arcuate movement Trajectory Arithmetic, comprises the following steps：（2）Obtain the coordinate P1 of robot palletizer current location（X1, y1, z1）Coordinate P3 with target location（X3, y3, z3）；（3）Robot palletizer reads the height parameter H of input, and current position coordinates P1 and target location coordinate P3 are converted into world coordinates；（4）Current position coordinates P1, target location coordinate P3 after by conversion and height parameter H are substituted in underlying algorithm function and are obtained interim coordinate P2；（5）The interim coordinate P2 for asking for is converted into coordinate under world coordinate system, and application layer is sent to by interface；（6）Circular motion track is planned in the user application layer of robot palletizer using Circle instruction operations.By the Motion trajectory of robot palletizer parabolically, robot motion's distance is reduced so as to reduce the movement time in each cycle, while making its motor process more flexible flexibly.
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, its most distinct issues
Seek to beat fast, energy-conservation, flexibility etc..As shown in figure 1, traditional piling action is essentially all based on " door " font mechanism
Movement locus.Course of action is divided into three steps, and first step straight line is captured downwards, then pulls up translation, to vertical during target location
Put down, then according to contrary action is returned, continue next beat.Due to be every time through linear motion interpolation when machine
Compared with mechanization, not flexible enough, in addition walking path is that have two flex points in the middle of right angle to people's motion ratio, will have three times in half period
Acceleration and deceleration, the time-consuming speed of action is slow in this way for institute, not flexible enough.
Content of the invention
The technical problem to be solved is to provide a kind of robot palletizer arcuate movement Trajectory Arithmetic, reduces machine
People's travel so as to reduce the movement time in each cycle, while make its motor process more flexible flexibly, and by reducing
Run time reduces electricity usage cost.
For solving above-mentioned technical problem, the technical scheme is that：A kind of robot palletizer arcuate movement Trajectory Arithmetic,
Comprise the following steps：
（1）Set the coordinate P1 of robot palletizer current location（X1, y1, z1）, the coordinate P3 of target location（X3, y3,
z3）, the coordinate P2 of transition point（X2, y2, z2）；Starting point of coordinate points P1 for arcuate movement track, coordinate points P3 are arcuate movement
The terminal of track, coordinate points P2（X2, y2, z2）Transition point for coordinate points P1 to coordinate points P3；Coordinate points P2 are reached by coordinate
The vertical height of the straight line that point P1, P3 are formed is H；
（2）Obtain the coordinate P1 of robot palletizer current location（X1, y1, z1）Coordinate P3 with target location（X3, y3,
z3）；
（3）Robot palletizer reads the height parameter H of input, and current position coordinates P1 and target location coordinate P3 are turned
Turn to world coordinates；
（4）Current position coordinates P1, target location coordinate P3 after by conversion and height parameter H substitute into underlying algorithm function
In obtain interim coordinate P2；
（5）The interim coordinate P2 for asking for is converted into coordinate under world coordinate system, and application layer is sent to by interface；
（6）Circular motion track is planned in the user application layer of robot palletizer using Circle instruction operations.
One plane can determine by three dimensional space coordinate point, and a circular curve is planned in this plane.Such as P1
（X1, y1, z1）, P2 (x2, y2, z2), P3 (x3, y3, z3), if it is known that the coordinate of three points, as long as three points are not at one
Then can be with algorithm simultaneously through the space circular arc of three points on straight line, P2 points are transition point, and P1 is starting point, and P3 points are to terminate
Point, the direction of motion of arc track by P1 through P2 to P3, angle according to three-point shape into the circular arc center of circle to P1 and P3 unit
Vector dot is tried to achieve.Crawl point P1 during onsite application robot palletizer is, it is known that set-point P3 is, it is known that be now to be reached according to P2
Vertical height H of the straight line that P1P3 is formed asks for the coordinate of P2 points.Then according to P1, the coordinate planning parabola rail of P2, P3 point
Mark, the track that is planned using the Circle instruction operations of robot.
As improvement, the step（4）In, underlying algorithm function function P2=FuncSolve（P1, P3, h）,
According to P1, P3 points obtain the coordinate of centre：dist=（P1+P3）/2；Dist includes three element dist（1）X-axis coordinate, dist
（2）Y-axis coordinate, dist（3）Z axis coordinate；The 4th axle of robot palletizer hangs down perpendicular to horizontal plane, the parabolic path of TCP operations
Straight in XOY plane, it is assumed that a side vector perpendicular to this plane is（1, k, 0）, then k=(P1 (1) P3 (1))/(
P3(2) - P1(2) )；Then P2 (2) the i.e. seats of intermediate point Y-axis are asked for further according to circular curve in the distance that XOY plane is projected
Mark；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)
Wherein FSOLVE is to seek variable for y, the value of y during fun=1；
Then according to known k, the value of P2 (2) asks for the value of P2 (1), and formula is as follows：
P2(1) = point3(1)+k*point3(2)-k*Y
P2 (3) is finally obtained：
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)).
Used as improvement, the algorithm is applied to parallel rod stacker crane device people, and such as one kind of Publication No. 103010764A is put down
Hang Gan stacking machines robot.
The beneficial effect brought compared with prior art of the present invention is：
By the Motion trajectory of robot palletizer parabolically, robot motion's distance is reduced so as to reduce each week
The movement time of phase, while making its motor process more flexible flexibly, and reduces electricity usage cost by reducing run time.
Description of the drawings
Fig. 1 is existing robot palletizer movement locus.
Fig. 2 is robot palletizer movement locus of the present invention.
Fig. 3 is inventive algorithm flow chart.
Specific embodiment
With reference to Figure of description, the invention will be further described.
As shown in Figure 2,3, a kind of robot palletizer arcuate movement Trajectory Arithmetic, the robot palletizer are parallel rod stacker crane
Device people, algorithm comprise the following steps：
（1）Set the coordinate P1 of robot palletizer current location（X1, y1, z1）, the coordinate P3 of target location（X3, y3,
z3）, the coordinate P2 of transition point（X2, y2, z2）；Starting point of coordinate points P1 for arcuate movement track, coordinate points P3 are arcuate movement
The terminal of track, coordinate points P2（X2, y2, z2）Transition point for coordinate points P1 to coordinate points P3；Coordinate points P2 are reached by coordinate
The vertical height of the straight line that point P1, P3 are formed is H；
（2）Obtain the coordinate P1 of robot palletizer current location（X1, y1, z1）Coordinate P3 with target location（X3, y3,
z3）；
（3）Robot palletizer reads the height parameter H of input, and current position coordinates P1 and target location coordinate P3 are turned
Turn to world coordinates；
（4）Current position coordinates P1, target location coordinate P3 after by conversion and height parameter H substitute into underlying algorithm function
In obtain interim coordinate P2；
（5）The interim coordinate P2 for asking for is converted into coordinate under world coordinate system, and application layer is sent to by interface；
（6）Circular motion track is planned in the user application layer of robot palletizer using Circle instruction operations.
Underlying algorithm function function P2=FuncSolve（P1, P3, h）, according to P1, P3 points obtain the seat of centre
Mark：dist=（P1+P3）/2；Dist includes three element dist（1）X-axis coordinate, dist（2）Y-axis coordinate, dist（3）Z axis are sat
Mark；, perpendicular to horizontal plane, the parabolic path of TCP operations is perpendicular to XOY plane for the 4th axle of robot palletizer, it is assumed that perpendicular to
One side vector of this plane is（1, k, 0）, then k=(P1 (1) P3 (1))/(P3 (2)-P1 (2))；Then again
P2 (2) the i.e. coordinates of intermediate point Y-axis are asked in the distance that XOY plane is projected according to circular curve；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)
Wherein FSOLVE is to seek variable for y, the value of y during fun=1；
Then according to known k, the value of P2 (2) asks for the value of P2 (1), and formula is as follows：
P2(1) = point3(1)+k*point3(2)-k*Y
P2 (3) is finally obtained：
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 (2)
1. a kind of robot palletizer arcuate movement Trajectory Arithmetic, it is characterised in that comprise the following steps：
（1）Set the coordinate P1 of robot palletizer current location（X1, y1, z1）, the coordinate P3 of target location（X3, y3, z3）, mistake
Cross coordinate P2 a little（X2, y2, z2）；Starting point of coordinate points P1 for arcuate movement track, coordinate points P3 are arcuate movement track
Terminal, coordinate points P2（X2, y2, z2）Transition point for coordinate points P1 to coordinate points P3；Coordinate points P2 are reached by coordinate points P1, P3
The vertical height of the straight line of formation is H；
（2）Obtain the coordinate P1 of robot palletizer current location（X1, y1, z1）Coordinate P3 with target location（X3, y3, z3）；
（3）Robot palletizer reads the height parameter H of input, and current position coordinates P1 and target location coordinate P3 are converted into
World coordinates；
（4）Current position coordinates P1, target location coordinate P3 after by conversion and height parameter H are substituted into and are asked in underlying algorithm function
Go out interim coordinate P2；
（5）The interim coordinate P2 for asking for is converted into coordinate under world coordinate system, and application layer is sent to by interface；
（6）Circular motion track is planned in the application layer of robot palletizer using Circle instruction operations；
The step（4）In, underlying algorithm function function P2=FuncSolve（P1, P3, h）, according to P1, P3 points are asked
Go out the coordinate of centre：dist=（P1+P3）/2；
Dist includes three element dist（1）X-axis coordinate, dist（2）Y-axis coordinate, dist（3）Z axis coordinate；Robot palletizer
, perpendicular to horizontal plane, the parabolic path of TCP operations is perpendicular to XOY plane, it is assumed that perpendicular to a direction of this plane for four axles
Amount is（1, k, 0）, then k=(P1 (1) P3 (1))/(P3 (2)-P1 (2))；Then further according to circular curve in XOY
The distance of plane projection asks for P2 (2) the i.e. coordinates of transition point Y-axis；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)
Wherein FSOLVE is to seek variable for Y, the value of Y during fun=1；
Then according to known k, the value of P2 (2) asks for the value of P2 (1), and formula is as follows：
P2(1) = point3(1)+k*point3(2)-k*Y
P2 (3) is finally obtained：
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)).
2. a kind of robot palletizer arcuate movement Trajectory Arithmetic according to claim 1, it is characterised in that：The algorithm should
For parallel rod stacker crane device people.
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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 |
| 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 |
| 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 |
| CN108064197B (en) * | 2016-12-30 | 2021-04-06 | 深圳配天智能技术研究院有限公司 | Method and device for determining position information of 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 |
| CN107479581B (en) | 2017-09-21 | 2021-01-26 | 北京京东尚科信息技术有限公司 | Container stacking control device, system, 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 |
| CN111989193A (en) * | 2018-04-25 | 2020-11-24 | Abb瑞士股份有限公司 | Method and control system for controlling motion trail of robot |
| CN110587576A (en) * | 2019-08-08 | 2019-12-20 | 南通大学 | Stacking robot based on single chip microcomputer |
| CN110587598A (en) * | 2019-08-08 | 2019-12-20 | 南通大学 | Stacking robot path optimization algorithm based on single-chip microcomputer |
| 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 |
| 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 |
| CN113878574B (en) * | 2021-09-28 | 2023-09-29 | 浙江大学 | Robot palletizing process programming method |
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