CN104589346A - Collisionless path planning method suitable for manipulator - Google Patents
Collisionless path planning method suitable for manipulator Download PDFInfo
- Publication number
- CN104589346A CN104589346A CN201410766002.1A CN201410766002A CN104589346A CN 104589346 A CN104589346 A CN 104589346A CN 201410766002 A CN201410766002 A CN 201410766002A CN 104589346 A CN104589346 A CN 104589346A
- Authority
- CN
- China
- Prior art keywords
- joint
- manipulator
- workpiece
- welded
- connecting rod
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a collisionless path planning method suitable for a manipulator. The method includes the following steps that the movement speed, the angular velocity and the torque of a joint and a connection rod which are connected with the manipulator, the displacement between the joint and a workpiece to be welded, and the displacement between the connection rod and the workpiece to be welded are acquired, and the joint and the connection rod are connected through a rotating joint; a motor provides power for rotation of the joint and movement of the connection rod; the joint and the connection rod which are connected with the manipulator are provided with sensors; a welding gun is controlled to perform welded joint movement along a welded joint of the welded workpiece, if the workpiece or a collision object is induced, the joint and the connection rod are controlled to stop rotating, the movement speed, the angular velocity and the torque of the joint and the connection rod, the displacement between the joint and the workpiece to be welded, and the displacement between the connection rod and the workpiece to be welded are acquired again, and a new path is planned. The path planned through the method is shortest, the problem that the joint and the connection rod collide with the welded workpiece in the track planning process does not exist, the requirement of the welded workpiece is met, welding quality is high, and stability is high.
Description
Technical field
The present invention relates to Technology of Welding Robot, especially, relate to a kind of Collision Free Path Planning being applicable to manipulator.
Background technology
Current welding generally uses human weld, the working environment of welding is also that poor, dust granule is large and many, the skin of optical heat radiation stimulation people and eyes, risk are also high compared with other industry, harmful to person health, human weld's production efficiency neither be very high, and the integral solder quality comparation of the workpiece of human weld is low, low for single workpiece size stability, even if use automatic welding, also do not plan path of welding, easily collided welding work pieces, cause damage.
Summary of the invention
The object of the invention is to provide a kind of Collision Free Path Planning being applicable to manipulator, even if use automatic welding to solve in prior art, has not also planned path of welding, has easily collided welding work pieces, caused the problem of damage.
For achieving the above object, the invention provides a kind of Collision Free Path Planning being applicable to manipulator, wherein, comprise the following steps: obtain be connected with manipulator joint, the movement velocity of connecting rod, angular speed, moment and this joint, the displacement of connecting rod respectively and between workpiece to be welded, for cradle head is connected between this joint with connecting rod; Motor provides the power of articulation and link motion; In the joint that manipulator connects and connecting rod, sensor is set; And control welding gun and carry out weld seam along the soldered of welding work pieces and move, if when sensing workpiece or collision thing, control joint and connecting rod stop operating, again obtain joint, the movement velocity of connecting rod, angular speed, moment and this joint, the displacement of connecting rod respectively and between workpiece to be welded, and plan new path.
Further, the invention provides a kind of Collision Free Path Planning being applicable to manipulator, wherein, the movement velocity of the joint that described acquisition is connected with manipulator and connecting rod, angular speed and moment utilize sensor to obtain.
The present invention has following beneficial effect: the invention provides a kind of Collision Free Path Planning being applicable to manipulator, the path of planning meets shortest path and in the process of trajectory planning, there is not the problem collided with welding work pieces, the requirement of welding work pieces all will be met in position, speed and acceleration, welding quality is good, and stability is high.
Detailed description of the invention
A kind of Collision Free Path Planning being applicable to manipulator that this preferred embodiment provides, its specific implementation process is as follows:
The invention provides a kind of Collision Free Path Planning being applicable to manipulator, wherein, comprise the following steps: obtain be connected with manipulator joint, the movement velocity of connecting rod, angular speed, moment and this joint, the displacement of connecting rod respectively and between workpiece to be welded, for cradle head is connected between this joint with connecting rod; Motor provides the power of articulation and link motion; In the joint that manipulator connects and connecting rod, sensor is set; And control welding gun and carry out weld seam along the soldered of welding work pieces and move, if when sensing workpiece or collision thing, control joint and connecting rod stop operating, again obtain joint, the movement velocity of connecting rod, angular speed, moment and this joint, the displacement of connecting rod respectively and between workpiece to be welded, and plan new path.
Further, the invention provides a kind of Collision Free Path Planning being applicable to manipulator, wherein, the movement velocity of the joint that described acquisition is connected with manipulator and connecting rod, angular speed and moment utilize sensor to obtain.
As can be seen from the above description, the above embodiments of the present invention achieve following technique effect:
The invention provides a kind of Collision Free Path Planning being applicable to manipulator, the path of planning meets shortest path and in the process of trajectory planning, there is not the problem collided with welding work pieces, the requirement of welding work pieces all will be met in position, speed and acceleration, welding quality is good, and stability is high.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention; For a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. be applicable to a Collision Free Path Planning for manipulator, it is characterized in that, comprise the following steps:
Obtain be connected with manipulator joint, the movement velocity of connecting rod, angular speed, moment and this joint, the displacement of connecting rod respectively and between workpiece to be welded, for cradle head is connected between this joint with connecting rod;
Motor provides the power of articulation and link motion;
In the joint that manipulator connects and connecting rod, sensor is set; And
Control welding gun to carry out weld seam along the soldered of welding work pieces and move, if when sensing workpiece or collision thing, control joint and connecting rod stop operating, again obtain joint, the movement velocity of connecting rod, angular speed, moment and this joint, the displacement of connecting rod respectively and between workpiece to be welded, and plan new path.
2. a kind of Collision Free Path Planning being applicable to manipulator according to claim 1, is characterized in that: the movement velocity of the joint that described acquisition is connected with manipulator and connecting rod, angular speed and moment utilize sensor to obtain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410766002.1A CN104589346A (en) | 2014-12-15 | 2014-12-15 | Collisionless path planning method suitable for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410766002.1A CN104589346A (en) | 2014-12-15 | 2014-12-15 | Collisionless path planning method suitable for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104589346A true CN104589346A (en) | 2015-05-06 |
Family
ID=53115572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410766002.1A Pending CN104589346A (en) | 2014-12-15 | 2014-12-15 | Collisionless path planning method suitable for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104589346A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088878A (en) * | 2016-02-17 | 2017-08-25 | 发那科株式会社 | Calculate the analogue means of the robot of scanning space |
| WO2017219639A1 (en) * | 2016-06-20 | 2017-12-28 | 广州视源电子科技股份有限公司 | Motion trail planning method and device for robotic arm, and robot |
| US10509391B2 (en) | 2018-01-12 | 2019-12-17 | Industrial Technology Research Institute | Machine tool collision avoidance method and system using the same |
| CN113021353A (en) * | 2021-03-26 | 2021-06-25 | 福州大学 | Robot collision detection method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010004718A1 (en) * | 1995-01-04 | 2001-06-21 | Gilliland Malcolm T. | Method for programming a robot using a pendant controller |
| JP2005100143A (en) * | 2003-09-25 | 2005-04-14 | Kobe Steel Ltd | Control method and control device for motor-driven device |
| CN102785246A (en) * | 2012-08-24 | 2012-11-21 | 电子科技大学 | Robot calibration method capable of achieving automatic trajectory correction |
| CN103028870A (en) * | 2012-12-11 | 2013-04-10 | 南京熊猫电子股份有限公司 | Welding robot system |
| CN103192414A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Robot anti-collision protection device and method based on machine vision |
| CN203171118U (en) * | 2013-03-22 | 2013-09-04 | 江苏博尚工业装备有限公司 | Welding robot |
-
2014
- 2014-12-15 CN CN201410766002.1A patent/CN104589346A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010004718A1 (en) * | 1995-01-04 | 2001-06-21 | Gilliland Malcolm T. | Method for programming a robot using a pendant controller |
| JP2005100143A (en) * | 2003-09-25 | 2005-04-14 | Kobe Steel Ltd | Control method and control device for motor-driven device |
| CN103192414A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Robot anti-collision protection device and method based on machine vision |
| CN102785246A (en) * | 2012-08-24 | 2012-11-21 | 电子科技大学 | Robot calibration method capable of achieving automatic trajectory correction |
| CN103028870A (en) * | 2012-12-11 | 2013-04-10 | 南京熊猫电子股份有限公司 | Welding robot system |
| CN203171118U (en) * | 2013-03-22 | 2013-09-04 | 江苏博尚工业装备有限公司 | Welding robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088878A (en) * | 2016-02-17 | 2017-08-25 | 发那科株式会社 | Calculate the analogue means of the robot of scanning space |
| CN107088878B (en) * | 2016-02-17 | 2020-04-03 | 发那科株式会社 | Simulation device for robot for calculating scanning space |
| WO2017219639A1 (en) * | 2016-06-20 | 2017-12-28 | 广州视源电子科技股份有限公司 | Motion trail planning method and device for robotic arm, and robot |
| US10509391B2 (en) | 2018-01-12 | 2019-12-17 | Industrial Technology Research Institute | Machine tool collision avoidance method and system using the same |
| CN113021353A (en) * | 2021-03-26 | 2021-06-25 | 福州大学 | Robot collision detection method |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150506 |