CN115291566A - Spindle rotation planning method for different-side double-fiber-laying robot system - Google Patents
Spindle rotation planning method for different-side double-fiber-laying robot system Download PDFInfo
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Abstract
The invention discloses a main shaft rotation planning method of a different-side double-fiber-laying robot system, which comprises the following steps: step one, acquiring a filament laying track, and discretely extracting path points according to fixed step length; step two, dispersing the rotation angle of the main shaft, and constructing a dispersion space expressing the angle relationship between the path point and the dispersion main shaft; calculating the positions of the corresponding wrist points of each path point; marking inaccessible and singular positions of the robot in the discrete space based on inverse kinematics inverse solution; step five, the laying task is divided into double-robot laying and single-robot laying; step six, planning the rotation of a main shaft aiming at the laying task of the double robots; step seven, aiming at the single robot, determining the current spindle angle of the discrete point by knowing the spindle angle of the last discrete point; and step eight, splicing the main shaft rotation angle values correspondingly planned by the laying tasks of the double robots and the single robot to obtain the complete movement of the main shaft in the laying process. The invention gives full play to the performance of the robot and improves the laying efficiency.
Description
Technical Field
The invention relates to the technical field of automatic forming of composite materials, in particular to a spindle rotation planning method of a different-side double-wire-laying robot system.
Background
The automatic laying technology is an important means for realizing high-performance digital manufacturing of the composite material, and is also the fastest advanced manufacturing technology developed in recent years, but the contradiction between lower equipment laying efficiency and limitation of the using period of the prepreg is faced in the laying process of the composite material, so that the complexity of manufacturing composite material components and high laying productivity are considered, the laying equipment becomes a manufacturing research hotspot of modern composite material products, and therefore, the research on the related planning of the double-wire laying robot is very significant.
The double-wire-laying robot has a plurality of application scenes, if the robot is positioned at two sides of the mould, the robot is a double-wire-laying robot at different sides, and under most conditions, the mould is provided with a main shaft and can perform rotary motion. For a given filament laying track on the die, the whole laying motion is completed by the main shaft motion and the double filament laying robot together, so that not only the robot needs to be considered in the whole laying process, but also the treatment of the main shaft is crucial.
The patent specification with the publication number of CN110614632A discloses a multi-robot laying track distribution design method, and the method is used for grouping matching and adaptive correction of all tracks of a single layer on a rotary workpiece according to the number of laying heads, so that multi-head simultaneous laying is realized, and the laying efficiency is greatly improved. In the scheme, the grouping matching of the tracks is to ensure that the tracks in the same group can be laid simultaneously, for example, two tracks laid by two wire laying heads simultaneously are a group; the adaptive correction means that the number of tracks or track points in the same group and the length of movement are different, in order to ensure that the tracks in the same group have the effect of synchronous filament laying, the tracks in the group are required to be laid simultaneously and finished simultaneously during filament laying, so that necessary track point correction needs to be carried out on the tracks, namely the number of the track points is increased or decreased.
Patent specification with publication number CN110472290A discloses a multi-robot laying geodesic track design method, which carries out track design based on a triangular discrete grid of a curved surface, and comprises the following steps: taking a point on the member; taking the point as a starting point, and respectively generating a geodesic track to the two ends; the current track is taken as a reference track, and the track is rotated around a shaft or a gravity center line in the circumferential direction to respectively obtain a second track and a third track \8230; projecting all the tracks to the surface of the mold to form covering tracks and completing the design of the geodesic wire laying track of the similar revolving body component; and converting the track into a mechanical language, and controlling a filament paving machine to finish the covering filament paving and forming of the workpiece.
At present, the main shaft processing methods of the double-wire-laying robot are still few, the two applications mentioned above have no related design, and a simple processing method is generally adopted, for example, the tail end track points of the robots on two sides are rotated to the same height, or the tail end track point of the robot on one side is always kept equal to the center of the main shaft, and the tail end track point is used as the rotation angle of the main shaft. The processing mode is simple in calculation and easy to realize, but the performance of the robot is not fully utilized, and meanwhile, singular points of the robot are not avoided, so that the efficiency is low in the actual laying process.
Disclosure of Invention
The invention aims to provide a spindle rotation planning method of an opposite-side double-wire-laying robot system, which can give full play to the performance of the robot when the spindle is planned, avoid singular points and improve laying efficiency.
A main shaft rotation planning method of a different-side double-wire-laying robot system comprises the following steps:
acquiring a filament laying track, dispersing according to a fixed step length and extracting path points;
step two, the rotation angle of the main shaft is discrete, so that a discrete space representing the corresponding relation between the path point and the discrete main shaft angle is constructed;
calculating the positions of the corresponding wrist points of each path point, and keeping the center of the robot base and the wrist points collinear;
step four, calculating based on inverse kinematics to obtain a non-singular main shaft discrete angle which enables the path point to be reachable;
step five, dividing the laying task into double-robot laying and single-robot laying according to the lengths of the laying paths on the two sides;
step six, aiming at double-robot laying, planning the rotation of a main shaft by utilizing a dynamic planning algorithm and taking the shortest total displacement time of joint change as a target function and taking reachable and strange avoidance as constraints;
step seven, aiming at single robot laying, determining the current discrete point main shaft angle by using the shortest change displacement time of adjacent discrete point joints as a target and using reachable and singularity avoidance as constraints and knowing the last discrete point main shaft angle;
and step eight, splicing the rotation angle values of the main shaft planned by the two laying tasks to obtain the complete movement of the main shaft in the laying process.
Preferably, the wrist point location is determined by offsetting the discrete points in a normal vector direction by an end-to-wrist point distance length. When the double robots lay the discrete points, the positions of the corresponding wrist points of the points are calculated by the method. For the same discrete point, when the robot moving base is level with the robot wrist point, namely the center of the robot base is always kept collinear with the wrist point, the adjustable angle of the main shaft of the robot is the largest.
Preferably, the discrete space is composed of two dimensions of path dispersion and principal axis angle dispersion, wherein a path dispersion subspace is obtained by solving and obtaining a discrete point set of two paths, and the two paths are dispersed according to equal step length, so that a discrete point P is obtained i (i =1, 2.., n) and P i ' (i =1, 2.. Said., m), as per P 1 And P 1 '、P 2 And P 2 '、…、P m And P m ' order correspondence; because the two discrete spaces are different in size, the space with the corresponding relation is processed according to the double robots, and the rest discrete space is processed according to the single robot.
Preferably, the robot, the path discrete point positions, the spindle discrete angles and the base positions corresponding to the tracks are known, inverse kinematics solution of the robot is carried out, and the robot joint angle q corresponding to each path discrete point and spindle discrete angle is obtained i (i =1, 2.., 6), and excludes unreachable and singular robot positions in discrete space。
Preferably, the two robots move the same distance in the same time during the process of laying the respective paths.
Preferably, when all main shaft rotation angles corresponding to one or more discrete points in the two-robot discrete space are marked unreachable, the two current filament laying tracks cannot be laid simultaneously, and the two filament laying tracks need to be reselected.
Preferably, the dynamic planning is applied to the double-robot discrete space, the main shaft angle corresponding to the minimum joint transformation time of the adjacent discrete points is searched, the total displacement time is the shortest, the unreachable position and the singular position are avoided, and the main shaft angle corresponding to the discrete point positions with the same two tracks is obtained finally.
Further preferably, the double robots can both execute at the maximum joint speed, and the time required for the change of each joint axis of two adjacent discrete points is as follows:
the time required for the thread laying head to pass through adjacent discrete points is the movement time T = max (T) of the slowest joint in all joints i )。
Preferably, when a calculation method for the rotation angle of the main shaft corresponding to each discrete point in the single robot discrete space is used for calculating a last discrete point to a current discrete point, the rotation angle value of the main shaft corresponding to the minimum motion time T of the slowest joint in the robot joints is the optimal rotation angle, and the requirements of motion accessibility and obstacle avoidance are met.
The invention has the beneficial effects that:
firstly, combining the trajectory discrete point and the main shaft angle to establish a relation, constructing a discrete space, then calculating the position of each discrete point corresponding to the wrist point, enabling the robot to be always collinear with the base, and performing inverse kinematics solution. For each joint value, the unreachable and singular positions were analyzed. And according to the corresponding situation of the laying track of the double robots, the discrete space is decomposed into a double-robot discrete space and a single-robot discrete space. And finally, aiming at the two laying tasks, introducing corresponding algorithms by using different objective functions, and planning the rotary motion of the main shaft. In the planning process, the unreachable and joint singularity are avoided, the maximum joint speed performance of the robot can be exerted, the displacement time in the ideal laying process is shortened as far as possible, and the efficiency is improved.
Drawings
Fig. 1 is a flow chart of spindle rotation planning of a bilateral double-wire-laying robot system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of fixed-step discrete point extraction on a given track according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating an adjustable range of a spindle when a movable base is flush with a wrist point according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the adjustable range of the spindle when the movable base is not flush with the wrist point according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of a method for planning the mobile base to be level with the wrist point according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an unreachable and singular position marker for a discrete space robot according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a strategy for grouping and pairing discrete points on two laying tracks according to an embodiment of the present invention;
fig. 8 is a schematic diagram of discrete spaces of a dual robot and a single robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
A method for planning the rotation of the main shaft of a bilateral double-wire-laying robot system is shown in fig. 1. The application takes the application of the method to two Koma robots for laying a mold revolving body with a certain complex profile as an example for explanation, and the method specifically comprises the following steps:
step one, acquiring a filament laying track to be laid on a mould, and distributing the filament laying track to corresponding robots. Referring to fig. 2, discrete points are sequentially extracted from the filament laying track according to a fixed step length.
And step two, dispersing the main shaft rotation angle in the stroke according to a fixed rotation angle delta theta, and recording as a group of dispersion angles.
θ k ＝θ 1 +(k-1)Δθ；k＝1,2,...,u
Wherein u = (θ) max -θ min )/Δθ。
And in the first step, each discrete point on the yarn laying track corresponds to the group of discrete angles, and a discrete space about the discrete point and the main shaft corner is obtained.
And step three, obtaining the position of the wrist point by shifting the discrete point in the step one along the normal vector. For the same discrete point, when the center of the robot moving base is level with the wrist point of the robot, namely the connecting line of the wrist point and the center of the base is always vertical to the guide rail, the adjustable angle of the corresponding main shaft of the wrist point of the robot is the largest. Referring to fig. 3, the envelope represents the reachable range of the wrist point of the robot when the mobile base is at the current position, the black circle represents that the wrist point corresponding to the current discrete point rotates 360 degrees around the main axis, and the intersection part of the black circle and the envelope represents the reachable range of the main axis corresponding to the wrist point. Known as P n The method comprises the steps that a point is a current laying discrete point, corresponding wrist point positions are calculated through the process, when the center of a robot moving base is level with the wrist point, a main shaft can rotate by an adjustable angle which is < AOB, when the center of the robot moving base is not level with the wrist point, the position of the robot is shown in fig. 4, the main shaft can rotate by an adjustable angle which is < COD, the angle AOB is greater than the < COD, and meanwhile, the rule is easy to obtain, and when the distance between the center of the moving base and the wrist point is longer, the adjustable angle range of the main shaft is smaller. Thus, when the two robots lay down each discrete point, the base adopts a planning strategy that is level with its wrist point, see fig. 5.
Step four, for the discrete space in the step two, the robot, the discrete point positions, the spindle discrete angles and the base positions corresponding to the known tracks are solved through robot inverse kinematics, and the robot joint angle q corresponding to each path discrete point and the spindle discrete angle is obtained i (i =1,2,. 6), by obtainingThe joint angle analysis excludes the robot unreachable and singular positions of the robot in the discrete space, and marks the positions, see fig. 6.
It should be noted that the inaccessible finger of the robot in the discrete space has no solution or the solved joint angle exceeds the joint angle limit of the robot in the inverse kinematics solving process; here, the robot singular position is divided into a wrist singular, a joint singular and an internal singular. However, during the particular laying process, predominantly wrist singularities occur, i.e. joint angles q 5 In the case of 0, when the joint angle q is 5 The joint performance is still poor near 0, so the singular region is defined as the joint angle q 5 In the range of-5 degrees to 5 degrees.
Step five, processing two tracks jointly laid by the two robots according to the step two to the step four to obtain respectively corresponding discrete spaces, combining the discrete spaces, wherein the obtained discrete space consists of two dimensions of path dispersion and main shaft angle dispersion, a path dispersion subspace is obtained by combining the discrete point sets of the two paths, the two paths are dispersed according to equal step length, and then the discrete points P on the two tracks are dispersed i (i =1, 2.., n) and P j ' (j =1, 2.. Multidot., m), as per P 1 And P 1 '、P 2 And P 2 '、…、P m And P m ' order corresponds, see FIG. 7. Because the two fiber laying tracks have different lengths, the number of discrete points in the same step length is different, and the long path section can remain the path point P i If (i = m + 1.. Multidot.,. N) is not matched, the two discrete spaces are not the same in length in the direction of the discrete points, and for this, the space having the correspondence relationship is processed by a double robot, and the remaining discrete spaces are processed by a single robot corresponding to the trajectory, as shown in fig. 8.
Specifically, when the two-robot laying task is performed, all main shaft corners corresponding to one or more discrete points are marked to be inaccessible, two current yarn laying tracks cannot be laid simultaneously, two yarn laying tracks need to be reselected, and the process from the first step to the fifth step is repeated.
And step six, for the double-robot laying task, in the laying process, each discrete point can have multiple main shaft angle selections, only one angle is selected, the main shaft angles corresponding to the discrete points are sequentially selected, and an acyclic directed graph is formed. And searching a main shaft angle corresponding to the minimum joint transformation time of adjacent discrete points by adopting a dynamic programming algorithm, wherein the target function is that the total displacement time of the joint change is shortest and unreachable and singular positions are avoided at the same time, and the specific process is as follows:
knowing that the corresponding joint angles of two adjacent path discrete points are respectively
And
and setting the movement speed v of the tail end wire laying head, wherein the discrete step length of a path point is L, then the movement time delta t = L/v, and the joint movement average angular speed is represented by joint displacement in a period of time.
The allowable maximum angular velocity of each joint axis of the Komare robot is
Order to
In combination with the above formula, can obtain
Wherein, fv i Indicating the degree of speed utilization by the robot joint axis i.
The utilization degree of the robot to the speed in the laying process needs to be fully exerted, and if the robot can be executed according to the maximum speed of the joints in the laying process, the time required for the change of each joint axis of two adjacent discrete points is
The total of 12 joint axes of the double robot is combined with the evaluation of all the axes, and the joint axis which takes the longest time to move completely is the standard, namely the time required by the filament paving head to pass through the adjacent discrete points is the movement time T = max (T = max) of the slowest joint in all the joints i )。
By adopting the idea of dynamic programming, for one discrete point in the discrete space, u different main shaft rotation angles can correspond, unreachable and singular position points are removed, and u are remained 1 By the angle of rotation of the main shaft, i.e. u 1 A seed joint value; similarly, there is a total of u for a point that is one point before the discrete point 2 And (4) a main shaft rotation angle and a joint value are obtained. For each spindle angle value of the discrete point, u is corresponding 2 The exercise time T is set. The whole double-robot discrete space has n discrete point groups and n-1 adjacent discrete point arc long sections, namely, the main shaft rotating angles corresponding to the n discrete points are required to be selected, and the main shaft rotating angles correspond to n-1 different motion times T.
And applying dynamic planning to search a target track, so that the sum of the main shaft rotation angle values selected by the discrete points on the target track and the corresponding different movement time T is minimum compared with other values, thereby completing the planning of the main shaft rotation angle corresponding to each discrete point of the double robots.
And step seven, determining a main shaft corner corresponding to the last discrete point of the double robots through the dynamic planning in the step six, and enabling a main shaft corner value corresponding to the minimum motion time T of the slowest joint in the 6 robot joints to be the optimal corner when the last discrete point is calculated to the current discrete point for the calculation method of the main shaft corner corresponding to the path point of the single robot laying task, and simultaneously meeting the requirements of motion accessibility and obstacle avoidance.
And step eight, splicing the spindle values obtained by laying the double robots and the single robot in the step six and the step seven to obtain the corresponding determined spindle corners of all discrete point positions on the two tracks laid simultaneously, no matter the length of the two tracks. When the tail end of the robot moves along the track, the angle value of the main shaft corresponding to the current position can be obtained, and therefore the main shaft rotation planning of the opposite-side double-wire-laying robot system is completed.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. A main shaft rotation planning method of a different-side double-wire-laying robot system comprises the following steps:
acquiring a filament laying track, dispersing according to a fixed step length and extracting path points;
step two, the rotation angle of the main shaft is discrete, so that a discrete space representing the corresponding relation between the path point and the discrete main shaft angle is constructed;
calculating the positions of the corresponding wrist points of each path point, and keeping the center of the robot base and the wrist points collinear;
step four, based on inverse kinematics calculation, obtaining a non-singular main shaft discrete angle which enables the path point to be reachable;
step five, dividing the laying task into double-robot laying and single-robot laying according to the lengths of the laying paths on the two sides;
step six, aiming at double-robot laying, planning the rotation of a main shaft by utilizing a dynamic planning algorithm and taking the shortest total displacement time of joint change as a target function and taking reachable and strange avoidance as constraints;
step seven, aiming at single robot laying, determining the current discrete point main shaft angle by using the shortest change displacement time of adjacent discrete point joints as a target and using reachable and singularity avoidance as constraints and knowing the last discrete point main shaft angle;
and step eight, splicing the rotation angle values of the main shaft planned by the two laying tasks to obtain the complete movement of the main shaft in the laying process.
2. The method for planning rotation of a spindle of an alien-side double-filament-laying robot system according to claim 1, wherein the wrist point position is determined by offsetting a discrete point by a distance length from the end to the wrist point along a normal vector direction.
3. The method for planning spindle rotation of a different-side double-filament-laying robot system according to claim 1, wherein the discrete space is composed of two dimensions of path dispersion and spindle angle dispersion, wherein a path dispersion subspace is obtained by summing discrete point sets of two paths, and the two paths are dispersed according to an equal step size, so that a discrete point P is a discrete point P i (i =1, 2.., n) and P i ' (i =1, 2.. Said., m), as per P 1 And P 1 '、P 2 And P 2 '、…、P m And P m ' order correspondence; the spaces with the corresponding relationship are processed according to the double robots, and the rest discrete spaces are processed according to the single robot.
4. The main shaft rotation planning method for the bilateral double-wire-laying robot system according to claim 1, wherein the known trajectory corresponds to a robot, a path discrete point position, a main shaft discrete angle and a base position, inverse kinematics solution of the robot is performed, and a robot joint angle q corresponding to each path discrete point and the main shaft discrete angle is obtained i (i =1,2.. 6.) unreachable and singular robot positions in discrete space are excluded by the resulting joint angle analysis.
5. The method for planning the rotation of the main shaft of the hetero-lateral double-filament-spreading robot system according to claim 1, wherein the two robots move at the same time at the same distance while laying the respective paths.
6. The method for planning the rotation of the main shaft of the opposite-side double-wire-laying robot system according to claim 1, wherein when all the main shaft rotation angles corresponding to one or more discrete points in the two-robot discrete space are marked inaccessible, two wire laying tracks cannot be laid at the same time, and two wire laying tracks need to be selected again.
7. The main shaft rotation planning method for the bilateral double-fiber-spreading robot system according to claim 1, wherein the double-robot discrete space applies dynamic planning to search for a main shaft angle corresponding to the minimum joint transformation time of adjacent discrete points, the target function is the shortest total displacement time, unreachable and singular positions are avoided at the same time, and the main shaft angles corresponding to the discrete point positions with the same track are obtained finally.
8. The method for planning the rotation of the main shaft of the unilateral double-fiber-laying robot system according to claim 1, wherein the double robots can both execute at the maximum joint speed, and the change of each joint shaft of two adjacent discrete points takes time as follows:
the time required for the thread laying head to pass through adjacent discrete points is the movement time T = max (T) of the slowest joint in all joints i )。
9. The main shaft rotation planning method for the bilateral double-wire-laying robot system according to claim 1, wherein each discrete point in the single-robot discrete space corresponds to a main shaft rotation angle calculation method, and when a last discrete point is calculated to a current discrete point, a main shaft rotation angle value corresponding to the minimum motion time T of the slowest joint in the robot joints is an optimal rotation angle, and the motion reachable and obstacle avoidance requirements are met.
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