CN116197914A - Track planning method for feeding and discharging of robot - Google Patents
Track planning method for feeding and discharging of robot Download PDFInfo
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- 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
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention discloses a track planning method for feeding and discharging of a robot, which relates to the technical field of track planning of robots.
Description
Technical Field
The invention relates to the technical field of robot track planning, in particular to a track planning method for feeding and discharging of a robot.
Background
The numerical control machine tool is used as an important component in a manufacturing system, so that the production efficiency and the quality of a product are greatly improved, along with the development of technology, the robot replaces a person to finish feeding and discharging operations of the machine tool, the control system of the robot is combined with the production system of the machine tool, the production efficiency is effectively improved, the quality of the product is ensured, meanwhile, personal injury is avoided, and a high-quality track planning scheme ensures the smoothness and stability of a movement path of the robot, so that the robot can accurately finish operation tasks; however, in the track planning process of feeding and discharging of the robot in the prior art, the operation of correcting and compensating cannot be performed through parameter processing to perform pre-correction and compensation on the running track of the equipment, so that interference of interference item parameters cannot be counteracted, deviation exists after track planning, and the accuracy of the robot in the feeding and discharging process is poor;
in view of the above technical drawbacks, a solution is now proposed.
Disclosure of Invention
The invention aims at: on one hand, the operation of correcting and compensating is carried out through parameter processing to carry out pre-correcting and compensating on the running track of the equipment so as to offset the interference of interference item parameters and reduce track planning deviation, and on the other hand, the correction capability of the track planning is gradually improved by assisting staff to realize further correcting and optimizing or equipment maintenance.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a track planning method for feeding and discharging of a robot comprises the following steps:
step one, establishing positioning coordinates and marking points: establishing a space rectangular coordinate system by taking the central point of the robot base as an origin, determining the position coordinates of the loading ramp, the detection material area, the unloading ramp and the moving joint of the robot in the space rectangular coordinate system, and marking the position coordinates;
step two, constructing feeding and discharging tracks: new loading ramp coordinate points are built again through collecting the height and the number of materials on the loading ramp, a preset track curve of a moving joint of the robot is built by combining the detection material area and the unloading ramp coordinate points, and then the loading to the unloading detection process is realized through running according to the preset track curve;
step three, judging the dynamic correction deviation to carry out correction compensation operation: collecting real-time operation parameter information of a movable joint and a real-time position of the movable joint corresponding to dynamic coordinates in a feeding and discharging process, analyzing and judging the information to generate a correction compensation value, combining the real-time position of the movable joint, the correction compensation value and a preset track curve to generate a correction compensation action of the movable joint, and performing correction compensation operation of the corresponding movable joint through the correction compensation action;
fourth, outputting a correction evaluation result: recording the actual movement position of the movable joint according to a time line, generating an actual track curve, then quantizing the actual track curve by combining a preset track curve to generate a correction evaluation factor, carrying out correction monitoring on the movable joint through the generated correction evaluation factor, and outputting the monitoring result to a computer terminal for display and further carrying out active refreshing.
Further, real-time data in the real-time operation parameter information of the mobile joint are marked as Yi, yi is a variable, and the value ranges of i are 1, 2, 3, … and n, n is the number of data, Y1, Y2, Y3, … and Yn correspond to the data, and each real-time data corresponds to a conversion factor.
Further, the real-time data in the real-time operation parameter information of the mobile joint specifically includes the vibration frequency value, the vibration amplitude value, the real-time and the real-time speed of the mobile joint at the moment; the vibration frequency value, the vibration amplitude value, the real-time and the real-time speed are respectively Y1, Y2, Y3 and Y4, and the value of n is 4.
Further, the generation process of the correction compensation value is as follows:
respectively subtracting the real-time data in the real-time operation parameter information of the mobile joint from the corresponding preset data value, analyzing the real-time data, marking the subtracted absolute value as a fluctuation characteristic value, respectively comparing the fluctuation characteristic value with the corresponding preset interval, and if the fluctuation characteristic value is in the corresponding preset interval, normally operating the mobile joint, otherwise, extracting all the fluctuation characteristic values to construct and generate a characteristic fluctuation set; multiplying the fluctuation characteristic values in the characteristic fluctuation set with corresponding conversion factors respectively, and obtaining corresponding correction compensation values respectively; wherein the median value of the preset interval is equal to 0.
Further, the specific process of the combining treatment in the step three is as follows:
the method comprises the steps of obtaining a real-time position of a dynamic coordinate, obtaining the real-time coordinate through a space rectangular coordinate system, obtaining a vertical interval between the real-time coordinate and a preset track curve and a vertical intersection point coordinate, extracting real-time and real-time speed corresponding to correction compensation values, multiplying the correction compensation values corresponding to the real-time and the real-time speed to obtain compensation distances, substituting the vertical interval and the compensation distances into a triangular formula to obtain a track straight line by taking a vertical intersection point as a starting point and a movement direction of the preset track curve as the direction of the compensation distances, normalizing the correction compensation values corresponding to a vibration frequency value and a vibration amplitude value to generate an interference characteristic value, multiplying the interference characteristic value and the vertical interval to perform secondary equal division to generate a characteristic compensation value, obtaining a real-time included angle between the track straight line and the preset track curve to perform primary smoothing treatment to generate a real-time smooth curve section, performing reverse vertical compensation on a fluctuation position of the real-time smooth curve section through the characteristic compensation value, performing secondary smoothing treatment on the compensation included angle of the reverse vertical smooth curve section to generate a compensation smooth curve, and analyzing the information to construct correction compensation action of a mobile joint.
Further, the specific process of the corrective compensation action of the mobile joint is as follows:
and extracting the length of the compensation smooth curve, acquiring the preset residual time, calculating and generating a dynamic average speed, and carrying out pre-correction compensation operation on the motion real-time smooth curve segment of the moving track according to the compensation smooth curve through the dynamic average speed.
Further, the specific process of the integrated judgment analysis in the fourth step is as follows:
overlapping an actual track curve and a preset track curve through preset constant time, marking the coordinate position of the actual track curve as Rt, marking the coordinate of the preset track curve as Rt, analyzing the difference value of the two coordinate positions to obtain a correction result abnormal value A,
wherein k is a weight coefficient; through the above process, then obtainThe correction results of the multiple groups of mobile joints have abnormal values A1, A2, A3, … and Aj, and corresponding weight coefficients k1, k2, k3, …, k4 and kj are provided, and k1+k2+k3+k4+k5=1; j is a positive integer;
multiplying the abnormal values of the multiple groups of correction results with the weight coefficients corresponding to the abnormal values to obtain an integration judgment value; and averaging the abnormal values of the plurality of groups of correction results, calculating a standard deviation value of the abnormal values, comparing the standard deviation value with the average value to generate a deviation ratio, and multiplying the deviation ratio by the integration judgment value to obtain the correction evaluation factor.
Further, the output of the result in the fourth step is specifically: comparing the correction evaluation factor with a preset correction value, generating a text in which the correction compensation operation is normally operated when the correction evaluation factor is smaller than the preset correction value, extracting correction result abnormal values and sorting the correction result abnormal values from large to small when the correction evaluation factor is larger than or equal to the preset correction value, constructing a correction error set by the serial numbers of the mobile joints corresponding to the correction result abnormal values sorted from large to small, highlighting the first three names of the correction error set, and sending the correction error set or the text to a computer terminal for display and further refreshing.
Further, the specific process of the smoothing treatment is as follows:
and extracting intersection points at the included angles, marking unreasonable data if the intersection points rise or fall in a cliff mode with two adjacent data points, marking unreasonable data if the intersection points fall in a cliff mode with a front data point or a rear data point, eliminating unreasonable data, connecting curves on two sides of the eliminating points, and repeating the steps again to reprocess the connected curves until no unreasonable data appears.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
the method comprises the steps of taking a central point of a robot base as an origin, establishing a space rectangular coordinate system, determining position coordinates of a loading ramp, a detection material area, a discharging ramp and a moving joint of the robot in the space rectangular coordinate system, and marking the position coordinates; then, new loading ramp coordinate points are built again through collecting the height and the number of materials on the loading ramp, a preset track curve of a movable joint of the robot is built by combining the detection material area and the unloading ramp coordinate points, then the process of loading to the unloading is realized through running according to the preset track curve, real-time running parameter information of the movable joint corresponding to the dynamic coordinates in the process of loading to the unloading is collected and the real-time position of the movable joint is detected, a correction compensation value is generated through analysis and judgment of the information, the real-time position of the movable joint, the correction compensation value and the preset track curve are combined to generate a correction compensation action of the movable joint, the correction compensation operation of the corresponding movable joint is carried out through the correction compensation action, and the running track of the equipment is subjected to pre-correction compensation through the correction compensation operation, so that the interference of interference item parameters is counteracted; recording the actual movement position of the movable joint according to a time line and generating an actual track curve, then carrying out quantization on the actual track curve combined with a preset track curve to generate a correction evaluation factor, carrying out correction monitoring on the movable joint through the generated correction evaluation factor, and outputting the monitoring result to a computer terminal for display and active refreshing; and (3) performing visual evaluation operation on the correction and compensation result of the movable joint to assist a worker in realizing further correction and optimization or equipment maintenance.
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FIG. 1 shows a flow chart of a trajectory planning method of the present invention;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
as shown in fig. 1, a track planning method for feeding and discharging of a robot comprises the following steps:
establishing a space rectangular coordinate system by taking the central point of the robot base as an origin, determining the position coordinates of the loading ramp, the detection material area, the unloading ramp and the moving joint of the robot in the space rectangular coordinate system, and marking the position coordinates;
the specific process of locating the coordinates is as follows: taking the center point of the robot base as an origin, taking a vertical line with the origin upwards as a z-axis, and forming positioning coordinates by taking two diameters of which the origin outwards extends vertically as an x-axis and a y-axis respectively; taking the intersection point of the central axis of the top surface of the feeding ramp and the vertical line of the origin as a feeding coordinate point, taking the intersection point of the central axis of the top surface of the detection material area and the vertical line of the origin as a detection coordinate point, taking the intersection point of the central axis of the top surface of the discharging ramp and the vertical line of the origin as a discharging coordinate point, marking the movable joints of the robot as dynamic coordinates, marking the dynamic coordinates as a plurality of the movable joints, and marking the fixture of the robot as terminal coordinates;
new loading ramp coordinate points are built again through collecting the height and the number of materials on the loading ramp, a preset track curve of a moving joint of the robot is built by combining the detection material area and the unloading ramp coordinate points, and then the loading to the unloading detection process is realized through running according to the preset track curve;
simplifying each joint of a manipulator into a series of rod pieces through a Robotics Toolbox, establishing an intuitive robot or manipulator model by using a Link function, removing extreme positions and selecting optimized positions through a kinematic equation, generating a plurality of planning paths through Cartesian planning, joint space planning or transformation interpolation planning, marking the totally shortest path as a preset track curve after removing broken line paths, and respectively corresponding to different movable joints;
collecting real-time operation parameter information of a mobile joint and a real-time position of the mobile joint corresponding to a dynamic coordinate in a feeding-to-discharging process, respectively marking real-time data in the real-time operation parameter information of the mobile joint as Yi, wherein Yi is a variable, the value range of i is 1, 2, 3, … and n, n is the number of data, Y1, Y2, Y3, … and Yn respectively correspond to one real-time data, and each real-time data corresponds to one conversion factor;
the real-time data in the real-time operation parameter information of the mobile joint specifically include the vibration frequency value, the vibration amplitude value, the real-time and the real-time speed of the mobile joint at the moment;
the vibration frequency value, the vibration amplitude value, the real-time and the real-time speed are Y1, Y2, Y3 and Y4 respectively, and the value of n is 4; the vibration frequency value and the vibration amplitude value are generated by sensing vibration information at the movable joint through a vibration sensor, and the real-time speed at the movable joint is sensed through a speed sensor; the higher the vibration frequency value and the vibration amplitude value are, the greater the influence on the operation of the robot is;
respectively subtracting the real-time data in the real-time operation parameter information of the mobile joint from the corresponding preset data value, analyzing the real-time data, marking the subtracted absolute value as a fluctuation characteristic value, respectively comparing the fluctuation characteristic value with the corresponding preset interval, and if the fluctuation characteristic value is in the corresponding preset interval, normally operating the mobile joint, otherwise, extracting all the fluctuation characteristic values to construct and generate a characteristic fluctuation set; multiplying the fluctuation characteristic values in the characteristic fluctuation set with corresponding conversion factors respectively, and obtaining corresponding correction compensation values respectively; wherein the intermediate value of the preset interval is equal to 0;
respectively subtracting the real-time data in the real-time operation parameter information of the mobile joint from the corresponding preset data value, analyzing the real-time data, marking the subtracted absolute value as a fluctuation characteristic value, respectively comparing the fluctuation characteristic value with the corresponding preset interval, and if the fluctuation characteristic value is in the corresponding preset interval, normally operating the mobile joint, otherwise, extracting all the fluctuation characteristic values to construct and generate a characteristic fluctuation set; multiplying the fluctuation characteristic values in the characteristic fluctuation set with corresponding conversion factors respectively, and obtaining corresponding correction compensation values respectively; wherein the intermediate value of the preset interval is equal to 0;
acquiring a real-time position of a dynamic coordinate, acquiring the real-time coordinate through a space rectangular coordinate system, acquiring a vertical interval between the real-time coordinate and a preset track curve and a vertical intersection point coordinate, extracting real-time and real-time speed corresponding to a correction compensation value, multiplying the correction compensation value corresponding to the real-time and the real-time speed to obtain a compensation distance, taking the vertical intersection point as a starting point, taking the motion direction of the preset track curve as the direction of the compensation distance, substituting the vertical interval and the compensation distance into a triangular formula to obtain a track straight line, normalizing the correction compensation value corresponding to a vibration frequency value and a vibration amplitude value to generate an interference characteristic value, multiplying the interference characteristic value and the vertical interval to perform secondary equal division to generate a characteristic compensation value, acquiring a real-time included angle between the track straight line and the preset track curve to perform primary smoothing to generate a real-time smooth curve section, performing reverse vertical compensation on the fluctuation position of the real-time smooth curve section through the characteristic compensation value, performing secondary smoothing on the compensation included angle of the reverse vertical compensation smooth curve section to generate a compensation smooth curve, extracting the length of the compensation curve and acquiring a preset residual time, calculating to generate a dynamic average value, and performing the motion smooth motion compensation operation on the motion smooth curve according to the preset motion smooth curve to the preset average smooth curve;
the smoothing process of both of them is as follows: extracting intersection points at the included angles, marking unreasonable data if the intersection points rise or fall in a cliff mode with two adjacent data points, marking unreasonable data if the intersection points fall in a cliff mode with the front or rear data point, eliminating unreasonable data, connecting curves on two sides of the eliminating points, and repeating the steps again to reprocess the connected curves until no unreasonable data appears;
recording the actual movement position of the movable joint according to a time line, generating an actual track curve, overlapping the actual track curve and the preset track curve through preset constant time, marking the coordinate position of the actual track curve as Rt, marking the coordinate of the preset track curve as Rt, and analyzing the difference value of the two coordinate positions to obtain a correction resultThe value of the anomaly value a,
wherein k is a weight coefficient; through the above process, the correction result abnormal values A1, A2, A3, …, aj of the plurality of groups of mobile joints are obtained, and the corresponding weight coefficients k1, k2, k3, …, k4 and kj are provided, and k1+k2+k3+k4+k5=1; j is a positive integer;
multiplying the abnormal values of the multiple groups of correction results with the weight coefficients corresponding to the abnormal values to obtain an integration judgment value; averaging the abnormal values of the correction results, calculating a standard deviation value of the abnormal values, comparing the standard deviation value with the average value to generate a deviation ratio, and multiplying the deviation ratio by the integration judgment value to obtain a correction evaluation factor;
comparing the correction evaluation factor with a preset correction value, generating a text for normal operation of correction compensation operation when the correction evaluation factor is smaller than the preset correction value, extracting correction result abnormal values and sorting the correction result abnormal values from large to small when the correction evaluation factor is larger than or equal to the preset correction value, constructing a correction error set by the serial numbers of the mobile joints corresponding to the correction result abnormal values sorted from large to small, highlighting the first three names of the correction error set, and sending the correction error set or the text to a computer terminal for display and further refreshing;
in summary, the technical scheme is that a central point of a robot base is taken as an origin, a space rectangular coordinate system is established, and position coordinates of a loading ramp, a detection material area, a discharging ramp and a moving joint of the robot in the space rectangular coordinate system are determined and marked; then, new loading ramp coordinate points are built again through collecting the height and the number of materials on the loading ramp, a preset track curve of a movable joint of the robot is built by combining the detection material area and the unloading ramp coordinate points, then the process of loading to the unloading is realized through running according to the preset track curve, real-time running parameter information of the movable joint corresponding to the dynamic coordinates in the process of loading to the unloading is collected and the real-time position of the movable joint is detected, a correction compensation value is generated through analysis and judgment of the information, the real-time position of the movable joint, the correction compensation value and the preset track curve are combined to generate a correction compensation action of the movable joint, the correction compensation operation of the corresponding movable joint is carried out through the correction compensation action, and the running track of the equipment is subjected to pre-correction compensation through the correction compensation operation, so that the interference of interference item parameters is counteracted; recording the actual movement position of the movable joint according to a time line and generating an actual track curve, then carrying out quantization on the actual track curve combined with a preset track curve to generate a correction evaluation factor, carrying out correction monitoring on the movable joint through the generated correction evaluation factor, and outputting the monitoring result to a computer terminal for display and active refreshing; and (3) performing visual evaluation operation on the correction and compensation result of the movable joint to assist a worker in realizing further correction and optimization or equipment maintenance.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (9)
1. The track planning method for feeding and discharging of the robot is characterized by comprising the following steps of:
step one, establishing positioning coordinates and marking points: establishing a space rectangular coordinate system by taking the central point of the robot base as an origin, determining the position coordinates of the loading ramp, the detection material area, the unloading ramp and the moving joint of the robot in the space rectangular coordinate system, and marking the position coordinates;
step two, constructing feeding and discharging tracks: new loading ramp coordinate points are built again through collecting the height and the number of materials on the loading ramp, a preset track curve of a moving joint of the robot is built by combining the detection material area and the unloading ramp coordinate points, and then the loading to the unloading detection process is realized through running according to the preset track curve;
step three, judging the dynamic correction deviation to carry out correction compensation operation: collecting real-time operation parameter information of a movable joint and a real-time position of the movable joint corresponding to dynamic coordinates in a feeding and discharging process, analyzing and judging the information to generate a correction compensation value, combining the real-time position of the movable joint, the correction compensation value and a preset track curve to generate a correction compensation action of the movable joint, and performing correction compensation operation of the corresponding movable joint through the correction compensation action;
fourth, outputting a correction evaluation result: recording the actual movement position of the movable joint according to a time line, generating an actual track curve, then quantizing the actual track curve by combining a preset track curve to generate a correction evaluation factor, carrying out correction monitoring on the movable joint through the generated correction evaluation factor, and outputting the monitoring result to a computer terminal for display and further carrying out active refreshing.
2. The method for planning tracks for feeding and discharging a robot according to claim 1, wherein real-time data in real-time operation parameter information of a mobile joint are respectively marked as Yi, yi is a variable, and the value ranges of i are 1, 2, 3, … and n, n is the number of data, Y1, Y2, Y3, … and Yn respectively correspond to one real-time data, and each real-time data corresponds to one conversion factor.
3. The method for planning tracks for feeding and discharging of a robot according to claim 2, wherein the real-time data in the real-time operation parameter information of the mobile joint is specifically the vibration frequency value, the vibration amplitude value, the real-time and the real-time speed of the mobile joint at the moment; the vibration frequency value, the vibration amplitude value, the real-time and the real-time speed are respectively Y1, Y2, Y3 and Y4, and the value of n is 4.
4. The trajectory planning method for feeding and discharging of a robot according to claim 2, wherein the correction compensation value is generated as follows:
respectively subtracting the real-time data in the real-time operation parameter information of the mobile joint from the corresponding preset data value, analyzing the real-time data, marking the subtracted absolute value as a fluctuation characteristic value, respectively comparing the fluctuation characteristic value with the corresponding preset interval, and if the fluctuation characteristic value is in the corresponding preset interval, normally operating the mobile joint, otherwise, extracting all the fluctuation characteristic values to construct and generate a characteristic fluctuation set; multiplying the fluctuation characteristic values in the characteristic fluctuation set with corresponding conversion factors respectively, and obtaining corresponding correction compensation values respectively; wherein the median value of the preset interval is equal to 0.
5. The method for planning tracks for feeding and discharging of a robot according to claim 4, wherein the combining process in the step three comprises the following specific steps:
the method comprises the steps of obtaining a real-time position of a dynamic coordinate, obtaining the real-time coordinate through a space rectangular coordinate system, obtaining a vertical interval between the real-time coordinate and a preset track curve and a vertical intersection point coordinate, extracting real-time and real-time speed corresponding to correction compensation values, multiplying the correction compensation values corresponding to the real-time and the real-time speed to obtain compensation distances, substituting the vertical interval and the compensation distances into a triangular formula to obtain a track straight line by taking a vertical intersection point as a starting point and a movement direction of the preset track curve as the direction of the compensation distances, normalizing the correction compensation values corresponding to a vibration frequency value and a vibration amplitude value to generate an interference characteristic value, multiplying the interference characteristic value and the vertical interval to perform secondary equal division to generate a characteristic compensation value, obtaining a real-time included angle between the track straight line and the preset track curve to perform primary smoothing treatment to generate a real-time smooth curve section, performing reverse vertical compensation on a fluctuation position of the real-time smooth curve section through the characteristic compensation value, performing secondary smoothing treatment on the compensation included angle of the reverse vertical smooth curve section to generate a compensation smooth curve, and analyzing the information to construct correction compensation action of a mobile joint.
6. The method for planning tracks for feeding and discharging of a robot according to claim 5, wherein the correction and compensation actions of the moving joints are specifically as follows:
and extracting the length of the compensation smooth curve, acquiring the preset residual time, calculating and generating a dynamic average speed, and carrying out pre-correction compensation operation on the motion real-time smooth curve segment of the moving track according to the compensation smooth curve through the dynamic average speed.
7. The method for planning tracks for feeding and discharging of a robot according to claim 5, wherein the specific process of the integrated judgment analysis in the fourth step is as follows:
overlapping an actual track curve and a preset track curve through preset constant time, marking the coordinate position of the actual track curve as Rt, marking the coordinate of the preset track curve as Rt, analyzing the difference value of the two coordinate positions to obtain a correction result abnormal value A,
wherein k is a weight coefficient; through the above process, the correction result abnormal values A1, A2, A3, …, aj of the plurality of groups of mobile joints are obtained, and the corresponding weight coefficients k1, k2, k3, …, k4 and kj are provided, and k1+k2+k3+k4+k5=1; j is a positive integer;
multiplying the abnormal values of the multiple groups of correction results with the weight coefficients corresponding to the abnormal values to obtain an integration judgment value; and averaging the abnormal values of the plurality of groups of correction results, calculating a standard deviation value of the abnormal values, comparing the standard deviation value with the average value to generate a deviation ratio, and multiplying the deviation ratio by the integration judgment value to obtain the correction evaluation factor.
8. The method for planning a track for feeding and discharging a robot according to claim 5, wherein the outputting of the result in the fourth step is specifically: comparing the correction evaluation factor with a preset correction value, generating a text in which the correction compensation operation is normally operated when the correction evaluation factor is smaller than the preset correction value, extracting correction result abnormal values and sorting the correction result abnormal values from large to small when the correction evaluation factor is larger than or equal to the preset correction value, constructing a correction error set by the serial numbers of the mobile joints corresponding to the correction result abnormal values sorted from large to small, highlighting the first three names of the correction error set, and sending the correction error set or the text to a computer terminal for display and further refreshing.
9. The method for planning the track for feeding and discharging the robot according to claim 5, wherein the smoothing process comprises the following specific steps:
and extracting intersection points at the included angles, marking unreasonable data if the intersection points rise or fall in a cliff mode with two adjacent data points, marking unreasonable data if the intersection points fall in a cliff mode with a front data point or a rear data point, eliminating unreasonable data, connecting curves on two sides of the eliminating points, and repeating the steps again to reprocess the connected curves until no unreasonable data appears.
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| CN202310328832.5A Withdrawn CN116197914A (en) | 2023-03-30 | 2023-03-30 | Track planning method for feeding and discharging of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116610070A (en) * | 2023-07-20 | 2023-08-18 | 杭州芯控智能科技有限公司 | Track uniform transition method and device based on Cartesian space |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116610070A (en) * | 2023-07-20 | 2023-08-18 | 杭州芯控智能科技有限公司 | Track uniform transition method and device based on Cartesian space |
| CN116610070B (en) * | 2023-07-20 | 2023-10-20 | 杭州芯控智能科技有限公司 | Track uniform transition method and device based on Cartesian space |
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