CN107139173A - A kind of industrial robot gate locus interpolation method - Google Patents
A kind of industrial robot gate locus interpolation method Download PDFInfo
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- CN107139173A CN107139173A CN201710457191.8A CN201710457191A CN107139173A CN 107139173 A CN107139173 A CN 107139173A CN 201710457191 A CN201710457191 A CN 201710457191A CN 107139173 A CN107139173 A CN 107139173A
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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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Abstract
The invention discloses a kind of industrial robot gate locus interpolation method, including step：(1) required according to target point and user, determine the transition scheme of gate track and segment processing is carried out to whole section of track；(2) Quintic spline curve is used, according to each segment boundary condition, row interpolation is entered to each section of track, the parametric equation of each section of track is determined, finally according to Quintic spline curve, interpolation is carried out to each section of track respectively.The present invention is compared to S types and trapezoidal velocity planning method, row interpolation is entered to each section of track using Quintic spline curve, its acceleration change is distributed in each interval of interpolation, and change is smooth, so can be the driving moment in each joint of robot, each for being assigned to robot interpolation is interval, and the driving moment in starting or each joint of ending segment is excessive when can prevent high-speed interpolation, motor is caused to alarm, the phenomenon for causing interpolation not complete.
Description
Technical field
Invention is related to industrial robot application field, more particularly to a kind of high-speed, high precision industrial robot gate track
Interpolating method.
Background technology
Gate track is the wide fixed motion track of the comparison used in industrial robot application field, is commonly used to 3C
Industry is assembled, the speed and required precision to robot motion are higher.In industrial robot high-speed interpolation, if not on the door
Type track carries out transition trajectory processing, easily causes robot frequent start-stop, the speed and precision of the control of influence robot.Together
When, compared to S types and trapezoidal velocity planning method, row interpolation is entered to each section of track using Quintic spline curve, its acceleration becomes
Change be distributed in interpolation each is interval, and change is smooth, so the driving moment in each joint of robot can be assigned to machine
Each of people's interpolation is interval, can prevent from originating during high-speed interpolation or the driving moment in each joint of ending segment is excessive, cause motor
Alarm, causes interpolation not complete.
The content of the invention
Calculate simple and convenient it is an object of the invention to overcome the deficiencies of the prior art and provide one kind, meet high speed and super precision
Spend the industrial robot gate locus interpolation method of control.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of industrial robot gate locus interpolation method, including step：
(1) required according to target point and user, determine the transition scheme of gate track and whole section of track is carried out at segmentation
Reason；
(2) Quintic spline curve is used, according to each segment boundary condition, row interpolation is entered to each section of track, each section of track is determined
Parametric equation, finally according to Quintic spline curve, interpolation is carried out to each section of track respectively.
Further, the step (1) specifically includes step：
(11) according to the conventional gate movement locus of industrial robot, the path of robot motion for P3 → P1 → P2 →
P4, then from P4 → P2 → P1 → P3, carries out interpolation analysis with P3 → P1 → P2 → P4 track here；
(12) in the interpolation of industrial robot gate movement locus, in order to ensure the requirement of high-speed interpolation, by P3 → P1
Section and P1 → P2 sections of P2 → P4 section and planar section progress velocity composite, the interpolation path after being synthesized；
(13) transfer coefficient is set as Ratio, and the desired motion time of whole section of movement locus is Ttotal, joined according to Ratio
Whole section of track is divided into five sections by several values：Ascent stage, upper changeover portion, planar section, lower changeover portion, descending branch, wherein upper changeover portion
Track is synthesized and formed by rising transition section interpolation and plane changeover portion interpolation, and lower changeover portion track is by plane changeover portion and declines
Cross section interpolation synthesis to form, each of interpolation time is：
It is from P3 → P1 → P2 → P4 interpolation total time：
Ascent stage and rising transition section interpolation total time be：
Descending branch and decline changeover portion interpolation total time be：
The interpolation time of planar section is：
Ascent stage and the interpolation time of descending branch is：
Rising transition section and decline changeover portion the interpolation time be：
Rising transition section and straight transitions section interpolation are carried out simultaneously, and carry out velocity composite, and biosynthesis locus is referred to as transition
Section；Decline changeover portion and straight transitions section interpolation is carried out simultaneously, and carry out velocity composite, biosynthesis locus is referred to as lower changeover portion.
So, required according to target point and user, it is determined that the transition scheme of gate track and whole section of track is divided
Section processing.
Further, the step (2) specifically includes step：
(21) speed planning and interpolation are combined, sets up following interpolation expression formula：
Pm=Ps+u(Pe-Ps)；
In formula, PsFor interpolation path starting point pose, PeFor interpolation path termination pose, u is interpolation normalized parameter, PmFor
It is current to calculate interpolated point.
(22) interpolation time t is converted between 0-1, sets total interpolation time when section path as Tm, then interpolation sequence N
Locating the corresponding interpolation time is：
T=N/Tm；
(23) interpolation normalized parameter u and interpolation time t functional relation are：
U=a1t5+a2t4+a3t3+a4t2+a5t+a6
a1、a2、a3、a4、a5、a6For speed planning coefficient；
(24) according to the characteristics of speed planning and interpolation, it may be determined that six boundary conditions of Quintic spline curve：
Pass through boundary condition, you can try to achieve each speed planning coefficient：
Substitute into interpolation expression formula, you can complete the Interpolation Process of each section of track；
Then u and t functional relation is：
U=6t5-15t4+10t3
At t ∈ [0,1], have
U '=30t4-60t3+30t2=30t2(t-1)2≥0。
This shows, when carrying out speed planning and interpolation using this functional relation, it is ensured that interpolation normalized parameter u's
Change is dull, is not in the shake of interpolation rate and displacement, meets the requirement of speed planning and interpolation.
The method have the advantages that：Compared to S types and trapezoidal velocity planning method, using Quintic spline curve to each
Row interpolation is entered in section track, and its acceleration change is distributed in each interval of interpolation, and change is smooth, so can robot is each
The driving moment in joint, is assigned to each interval of robot interpolation, can prevent that starting or ending segment are respectively closed during high-speed interpolation
The driving moment of section is excessive, causes motor to alarm, and causes interpolation not complete.
Brief description of the drawings
Fig. 1 is the gate track schematic diagram of industrial robot.
Fig. 2 is the schematic diagram after the transition of gate track and segmentation.
Fig. 3 is the speed and acceleration change schematic diagram of Quintic spline curve.
Embodiment
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings.
A kind of industrial robot gate locus interpolation method, including step：
(1) required according to target point and user, determine the transition scheme of gate track and whole section of track is carried out at segmentation
Reason；
(2) Quintic spline curve is used, according to each segment boundary condition, row interpolation is entered to each section of track, each section of track is determined
Parametric equation, finally according to Quintic spline curve, interpolation is carried out to each section of track respectively.
Specifically, the step (1) specifically includes step：
(11) according to the conventional gate movement locus (see Fig. 1) of industrial robot, the path of robot motion for P3 →
P1 → P2 → P4, then from P4 → P2 → P1 → P3, carries out interpolation analysis with P3 → P1 → P2 → P4 track here；
(12) in the interpolation of industrial robot gate movement locus, in order to ensure the requirement of high-speed interpolation, by P3 → P1
Section and P1 → P2 sections of P2 → P4 section and planar section progress velocity composite, the interpolation path after being synthesized (see Fig. 2)；
(13) transfer coefficient is set as Ratio, and the desired motion time of whole section of movement locus is Ttotal, joined according to Ratio
Whole section of track is divided into five sections by several values：Ascent stage, upper changeover portion, planar section, lower changeover portion, descending branch, wherein upper changeover portion
Track is synthesized and formed by rising transition section interpolation and plane changeover portion interpolation, and lower changeover portion track is by plane changeover portion and declines
Cross section interpolation synthesis to form, each of interpolation time is：
It is from P3 → P1 → P2 → P4 interpolation total time：
Ascent stage and rising transition section interpolation total time be：
Descending branch and decline changeover portion interpolation total time be：
The interpolation time of planar section is：
Ascent stage and the interpolation time of descending branch is：
Rising transition section and decline changeover portion the interpolation time be：
Rising transition section and straight transitions section interpolation are carried out simultaneously, and carry out velocity composite, and biosynthesis locus is referred to as transition
Section；Decline changeover portion and straight transitions section interpolation is carried out simultaneously, and carry out velocity composite, biosynthesis locus is referred to as lower changeover portion.
So, required according to target point and user, it is determined that the transition scheme of gate track and whole section of track is divided
Section processing.
Specifically, the step (2) specifically includes step：
(21) speed planning and interpolation are combined, sets up following interpolation expression formula：
Pm=Ps+u(Pe-Ps)
In formula, PsFor interpolation path starting point pose, PeFor interpolation path termination pose, u is interpolation normalized parameter, PmFor
It is current to calculate interpolated point.
(22) interpolation time t is converted between 0-1, sets total interpolation time when section path as Tm, then interpolation sequence N
Locating the corresponding interpolation time is：
T=N/Tm；
(23) interpolation normalized parameter u and interpolation time t functional relation are：
U=a1t5+a2t4+a3t3+a4t2+a5t+a6
a1、a2、a3、a4、a5、a6For speed planning coefficient；
(24) according to the characteristics of speed planning and interpolation, it may be determined that six boundary conditions of Quintic spline curve：
Pass through boundary condition, you can try to achieve each speed planning coefficient：
Substitute into interpolation expression formula, you can complete the Interpolation Process of each section of track；
Then u and t functional relation is：
U=6t5-15t4+10t3
At t ∈ [0,1], have
U '=30t4-60t3+30t2=30t2(t-1)2≥0
U ' and u " are the speed and acceleration normalization expression formula of robot, both change curves at t ∈ [0,1]
Shown in drawings described below 3.This shows, when carrying out speed planning and interpolation using this functional relation, it is ensured that interpolation is normalized
Parameter u change is dull, is not in the shake of interpolation rate and displacement, meets the requirement of speed planning and interpolation.Together
When, in Fig. 3 as can be seen that compared to S types and trapezoidal velocity planning method, being inserted using Quintic spline curve to each section of track
Value, its acceleration change be distributed in interpolation each is interval, and change is smooth, so can be the driving force in each joint of robot
Square, each for being assigned to robot interpolation is interval, the driving moment in starting or each joint of ending segment when can prevent high-speed interpolation
It is excessive, cause motor to alarm, cause interpolation not complete.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, it can also make on the basis of the above description
Other various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.It is all the present invention
Any modifications, equivalent substitutions and improvements made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (3)
1. a kind of industrial robot gate locus interpolation method, it is characterised in that including step：
(1) required according to target point and user, determine the transition scheme of gate track and segment processing is carried out to whole section of track；
(2) Quintic spline curve is used, according to each segment boundary condition, row interpolation is entered to each section of track, the ginseng of each section of track is determined
Number equation, finally according to Quintic spline curve, carries out interpolation to each section of track respectively.
2. a kind of industrial robot gate locus interpolation method, it is characterised in that the step (1) specifically includes step：
(11) according to the conventional gate movement locus of industrial robot, the path of robot motion is P3 → P1 → P2 → P4,
Then from P4 → P2 → P1 → P3, interpolation analysis is carried out with P3 → P1 → P2 → P4 track here；
(12) in the interpolation of industrial robot gate movement locus, in order to ensure the requirement of high-speed interpolation, by P3 → P1 sections and
P2 → P4 sections and P1 → P2 sections progress velocity composite of planar section, the interpolation path after being synthesized；
(13) transfer coefficient is set as Ratio, and the desired motion time of whole section of movement locus is Ttotal, according to Ratio parameters
Whole section of track is divided into five sections by value：Ascent stage, upper changeover portion, planar section, lower changeover portion, descending branch, wherein upper changeover portion track
Synthesized and formed by rising transition section interpolation and plane changeover portion interpolation, lower changeover portion track is by plane changeover portion and declines changeover portion
Interpolation synthesis is formed, and each of interpolation time is：
It is from P3 → P1 → P2 → P4 interpolation total time：
Ascent stage and rising transition section interpolation total time be：
Descending branch and decline changeover portion interpolation total time be：
The interpolation time of planar section is：
Ascent stage and the interpolation time of descending branch is：
Rising transition section and decline changeover portion the interpolation time be：
Rising transition section and straight transitions section interpolation are carried out simultaneously, and carry out velocity composite, and biosynthesis locus is referred to as changeover portion；Under
Drop changeover portion and straight transitions section interpolation are carried out simultaneously, and carry out velocity composite, and biosynthesis locus is referred to as lower changeover portion.
3. industrial robot gate locus interpolation method according to claim 1, it is characterised in that：Step (2) tool
Body includes step：
(21) speed planning and interpolation are combined, sets up following interpolation expression formula：
Pm=Ps+u(Pe-Ps),
In formula, PsFor interpolation path starting point pose, PeFor interpolation path termination pose, u is interpolation normalized parameter, PmTo be current
Calculate interpolated point.
(22) interpolation time t is converted between 0-1, sets total interpolation time when section path as Tm, then at interpolation sequence N pair
The interpolation time answered is：
T=N/Tm；
(23) interpolation normalized parameter u and interpolation time t functional relation are
U=a1t5+a2t4+a3t3+a4t2+a5t+a6
a1、a2、a3、a4、a5、a6For speed planning coefficient；
(24) according to the characteristics of speed planning and interpolation, it may be determined that six boundary conditions of Quintic spline curve：
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Pass through boundary condition, you can try to achieve each speed planning coefficient：
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</mfenced>
Substitute into interpolation expression formula, you can complete the Interpolation Process of each section of track；
Then u and t functional relation is：
U=6t5-15t4+10t3
At t ∈ [0,1], have
U '=30t4-60t3+30t2=30t2(t-1)2≥0。
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| CN108415427A (en) * | 2018-02-11 | 2018-08-17 | 昆山艾派科技有限公司 | The path joining method that robot multistep continuously moves |
| CN109531573A (en) * | 2018-12-25 | 2019-03-29 | 珞石（山东）智能科技有限公司 | One kind being based on line transect robot pose smooth path generation method |
| CN109794943A (en) * | 2019-03-27 | 2019-05-24 | 哈工大机器人（合肥）国际创新研究院 | A kind of turning migration path and determining method |
| CN109933008A (en) * | 2019-03-28 | 2019-06-25 | 佛山智能装备技术研究院 | A kind of double interpolating methods and device of non real-time system and robot controller |
| CN110147077A (en) * | 2019-04-19 | 2019-08-20 | 深圳科瑞技术股份有限公司 | A kind of cosine interpolating method of industrial robot under space line operation |
| CN110187721A (en) * | 2019-05-05 | 2019-08-30 | 湖北久之洋红外***股份有限公司 | One kind thousand indexes accurate holder motion control device and method |
| CN110587598A (en) * | 2019-08-08 | 2019-12-20 | 南通大学 | Stacking robot path optimization algorithm based on single-chip microcomputer |
| CN110900597A (en) * | 2018-09-14 | 2020-03-24 | 上海沃迪智能装备股份有限公司 | Jumping motion track planning method with settable vertical height and corner height |
| CN112356036A (en) * | 2020-11-23 | 2021-02-12 | 北京配天技术有限公司 | SCARA robot trajectory planning method, device, equipment and storage medium |
| CN112936294A (en) * | 2021-04-08 | 2021-06-11 | 北京配天技术有限公司 | Robot track interpolation method and device and related components |
| CN113814976A (en) * | 2021-09-16 | 2021-12-21 | 苏州灵猴机器人有限公司 | Control method, device, equipment and medium for flying beat motion |
| CN114227655A (en) * | 2021-12-30 | 2022-03-25 | 深圳市英威腾电气股份有限公司 | Method and device for determining planned path, SCARA robot and medium |
| CN114654463A (en) * | 2022-03-14 | 2022-06-24 | 上海电机学院 | Parallel robot sorting method based on genetic algorithm |
| CN116810802A (en) * | 2023-08-28 | 2023-09-29 | 江苏云幕智造科技有限公司 | Offset mechanical arm discrete point track smooth planning method, system and storage medium |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108415427A (en) * | 2018-02-11 | 2018-08-17 | 昆山艾派科技有限公司 | The path joining method that robot multistep continuously moves |
| CN110900597A (en) * | 2018-09-14 | 2020-03-24 | 上海沃迪智能装备股份有限公司 | Jumping motion track planning method with settable vertical height and corner height |
| CN109531573A (en) * | 2018-12-25 | 2019-03-29 | 珞石（山东）智能科技有限公司 | One kind being based on line transect robot pose smooth path generation method |
| CN109794943A (en) * | 2019-03-27 | 2019-05-24 | 哈工大机器人（合肥）国际创新研究院 | A kind of turning migration path and determining method |
| CN109933008B (en) * | 2019-03-28 | 2021-11-09 | 佛山智能装备技术研究院 | Double-interpolation method and device for non-real-time system and robot controller |
| CN109933008A (en) * | 2019-03-28 | 2019-06-25 | 佛山智能装备技术研究院 | A kind of double interpolating methods and device of non real-time system and robot controller |
| CN110147077A (en) * | 2019-04-19 | 2019-08-20 | 深圳科瑞技术股份有限公司 | A kind of cosine interpolating method of industrial robot under space line operation |
| CN110147077B (en) * | 2019-04-19 | 2021-11-16 | 深圳市科瑞软件技术有限公司 | Cosine interpolation method of industrial robot under space linear operation |
| CN110187721A (en) * | 2019-05-05 | 2019-08-30 | 湖北久之洋红外***股份有限公司 | One kind thousand indexes accurate holder motion control device and method |
| CN110587598A (en) * | 2019-08-08 | 2019-12-20 | 南通大学 | Stacking robot path optimization algorithm based on single-chip microcomputer |
| CN112356036A (en) * | 2020-11-23 | 2021-02-12 | 北京配天技术有限公司 | SCARA robot trajectory planning method, device, equipment and storage medium |
| CN112936294A (en) * | 2021-04-08 | 2021-06-11 | 北京配天技术有限公司 | Robot track interpolation method and device and related components |
| CN113814976A (en) * | 2021-09-16 | 2021-12-21 | 苏州灵猴机器人有限公司 | Control method, device, equipment and medium for flying beat motion |
| CN113814976B (en) * | 2021-09-16 | 2023-08-15 | 苏州灵猴机器人有限公司 | Control method, device, equipment and medium for fly-swatter movement |
| CN114227655A (en) * | 2021-12-30 | 2022-03-25 | 深圳市英威腾电气股份有限公司 | Method and device for determining planned path, SCARA robot and medium |
| CN114227655B (en) * | 2021-12-30 | 2024-06-04 | 深圳市英威腾电气股份有限公司 | Method and device for determining planned path, SCARA robot and medium |
| CN114654463A (en) * | 2022-03-14 | 2022-06-24 | 上海电机学院 | Parallel robot sorting method based on genetic algorithm |
| CN116810802A (en) * | 2023-08-28 | 2023-09-29 | 江苏云幕智造科技有限公司 | Offset mechanical arm discrete point track smooth planning method, system and storage medium |
| CN116810802B (en) * | 2023-08-28 | 2024-01-26 | 江苏云幕智造科技有限公司 | Offset mechanical arm discrete point track smooth planning method, system and storage medium |
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