CN114375431A - 用于工业机器人的轨迹简化方法及设备、计算机存储介质以及工业机器人操作平台 - Google Patents

用于工业机器人的轨迹简化方法及设备、计算机存储介质以及工业机器人操作平台 Download PDF

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Publication number
CN114375431A
CN114375431A CN201980100063.5A CN201980100063A CN114375431A CN 114375431 A CN114375431 A CN 114375431A CN 201980100063 A CN201980100063 A CN 201980100063A CN 114375431 A CN114375431 A CN 114375431A
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China
Prior art keywords
trajectory
industrial robot
points
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point
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CN201980100063.5A
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English (en)
Inventor
丁万
张泽昭
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Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of CN114375431A publication Critical patent/CN114375431A/zh
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39298—Trajectory learning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40476—Collision, planning for collision free path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning

Abstract

一种用于工业机器人的轨迹简化方法、轨迹简化设备(3000)、计算机存储介质以及工业机器人操作平台，该方法包括：根据工业机器人的示教过程，生成用于工业机器人的完整轨迹；以及对完整轨迹进行简化，以便得到特征点集合，其中特征点集合β(j)包含于原始点集合α(i)，并且对于原始点集合中与β(j‑1)对应的α(ij‑1)和与β(j)对应的α(ij)之间的任意点α(p)，该任意点α(p)与以β(j‑1)和β(j)为端点的直线线段间的近似误差小于或等于误差容限值d，ij‑1＜p＜ij，以及其中近似误差根据α(ij‑1)与α(p)之间的弦长以及α(ij‑1)与α(p)之间的弧长两者所确定；该计算机存储介质包括指令，指令在运行时执行轨迹简化方法；该工业机器人操作平台包括轨迹简化设备(3000)。

Description

PCT国内申请，说明书已公开。

Claims (18)

  1. PCT国内申请，权利要求书已公开。
CN201980100063.5A 2019-09-06 2019-09-06 用于工业机器人的轨迹简化方法及设备、计算机存储介质以及工业机器人操作平台 Pending CN114375431A (zh)

Applications Claiming Priority (1)

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PCT/CN2019/104778 WO2021042389A1 (zh) 2019-09-06 2019-09-06 用于工业机器人的轨迹简化方法及设备、计算机存储介质以及工业机器人操作平台

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Publication Number Publication Date
CN114375431A true CN114375431A (zh) 2022-04-19

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CN (1) CN114375431A (zh)
DE (1) DE112019007488T5 (zh)
WO (1) WO2021042389A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021125628B3 (de) 2021-10-04 2022-10-13 Physik Instrumente (PI) GmbH & Co KG Geschwindigkeitsvorgaben zur Trajektorienbestimmung von Kinematiken

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013071231A (ja) * 2011-09-29 2013-04-22 Panasonic Corp ロボットアームの教示装置、ロボット装置、教示方法、ロボットアームの制御装置、ロボットアームの制御プログラム、並びに、集積電子回路
CN103645725B (zh) * 2013-12-27 2016-08-17 广东省自动化研究所 一种机器人示教轨迹规划方法和系统
JP6311421B2 (ja) * 2014-04-10 2018-04-18 株式会社安川電機 ティーチングシステム、ロボットシステムおよびティーチング方法
CN108537808B (zh) * 2018-04-08 2019-02-22 易思维（天津）科技有限公司 一种基于机器人示教点信息的涂胶在线检测方法
CN108582071B (zh) * 2018-04-26 2020-09-08 华中科技大学 一种工业机器人编程轨迹诊断及速度优化的方法
CN110196590B (zh) * 2019-04-23 2021-12-14 华南理工大学 一种用于机器人路径跟踪的时间最优轨迹规划方法

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DE112019007488T5 (de) 2022-03-10
WO2021042389A1 (zh) 2021-03-11

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