CN113703461A

CN113703461A - Path determining method and device, robot and readable storage medium

Info

Publication number: CN113703461A
Application number: CN202111014618.XA
Authority: CN
Inventors: 李超; 吴君秋; 吴朱佳
Original assignee: KUKA Robot Manufacturing Shanghai Co Ltd
Current assignee: KUKA Robot Manufacturing Shanghai Co Ltd
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2021-11-26
Anticipated expiration: 2041-08-31
Also published as: CN113703461B

Abstract

The invention provides a path determination method, a path determination device, a robot and a readable storage medium. The path determination method comprises the following steps: acquiring an original path and a modification instruction of the robot, wherein the original path comprises initial information of at least three path points; taking at least two nonadjacent path points as reference points according to the modification instruction, and modifying initial information of the reference points into first information; and modifying the initial information of the intermediate path point between the two adjacent reference points according to the first information of the two adjacent reference points to obtain a modified path. Therefore, the technical problems that too much time is consumed, the smoothness of difference among path points cannot be accurately ensured, the adjustment of the whole path is inconvenient in the actual use process, and the adjustment operation flexibility is poor due to the fact that each residual path point is manually edited one by one are solved. The method for determining the optimized path is realized, the path modification efficiency is improved, the reliability of the modified path is improved, and the technical effect of the user experience is improved.

Description

Path determining method and device, robot and readable storage medium

Technical Field

The invention relates to the technical field of robots, in particular to a path determination method, a path determination device, a robot and a readable storage medium.

Background

The robot off-line programming technique is to create a robot work cell layout in a virtual environment and then simulate and verify robot movements and paths in the virtual environment. When the default process path cannot meet the actual requirement, but cannot meet the requirement through unified transformation or automatic optimization, a user needs to manually adjust the path according to the actual condition. Manually editing each path point one by one is a time-consuming task, and the smoothness of the difference between the path points cannot be accurately ensured, so that manual adjustment of the whole path is inconvenient in the actual use process, and the path adjustment cannot be quickly and flexibly completed.

Therefore, how to design a path determination method capable of overcoming the above technical defects becomes a technical problem to be solved urgently at present.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art.

To this end, a first aspect of the present invention proposes a path determination method.

A second aspect of the present invention provides a path determination apparatus.

A third aspect of the invention provides a robot.

A fourth aspect of the invention is directed to a readable storage medium.

In view of this, a first aspect of the present invention provides a path determining method, including:

acquiring an original path and a modification instruction of the robot, wherein the original path comprises initial information of at least three path points;

taking at least two nonadjacent path points as reference points according to the modification instruction, and modifying initial information of the reference points into first information;

and modifying the initial information of the intermediate path point between the two adjacent reference points according to the first information of the two adjacent reference points to obtain a modified path.

In the path determining method defined by the invention, the path determining method is applied to the technical field of robot simulation, can be applied to the off-line programming processing process of the robot, and can also be applied to the simulation process of the robot. Specifically, the workflow of the path determination method is as follows:

firstly, an original process path of the robot to be adjusted and a modification instruction corresponding to the original process path are obtained from a robot off-line editing program. The original path of the robot is a preset process path of the robot, and is used for reflecting a motion path of a part of structure points of the robot in the machining process, for example, a motion track of a central point of a clamping structure at the tail end of the robot, or a motion track of a part of rotating shaft connection points, or motion tracks of other structure points in the machining process, and the motion tracks are not rigidly limited. M (an integer greater than or equal to 3) path points are preset on the motion trail, and the M path points are distributed at intervals in the extending direction of the motion trail. Each path point has corresponding initial information, and the initial information can be used for reflecting the position and the posture of the robot under the path point and reflecting the position and the shape information of a workpiece to be processed under the path point.

And secondly, determining a target path point corresponding to the modification instruction based on the acquired modification instruction, taking the target path point as a reference point, and replacing initial information under the reference point with first information corresponding to the modification instruction based on the acquired modification instruction. The number of the datum points is at least two, and in the extending direction of the original path, unmodified path points exist between any two adjacent datum points in the at least two datum points. Thus completing the correction of the partially spaced path points on the original path according to the modification instruction.

And thirdly, modifying initial information of path points distributed between two adjacent reference points in the extending direction of the original track based on first information corresponding to the two adjacent reference points to generate a modified path. The automatic correction of the path between any two reference points is completed on the original path so as to ensure that the automatically corrected path between any two reference points can meet the process requirement and the preset motion rule of the robot.

In this respect, the present application defines a method for determining a route by modifying information of a part of route points (reference points) on an original route and then automatically modifying route points between any two reference points. By the path determination method, after a user modifies and corrects the first information of partial problem path points on the robot off-line editing program by manual modification, the matching and optimization of the path segments among the problem path points are automatically completed by the path determination method. Therefore, the technical problems that too much time is consumed, the smoothness of difference among path points cannot be accurately ensured, the adjustment of the whole path is inconvenient in the actual use process, and the adjustment operation flexibility is poor due to the fact that each residual path point is manually edited one by one are solved. The user can directly obtain a required new path according to the self requirement, and additional manual operation is omitted. And further, the method for determining the optimized path is realized, the path modification efficiency is improved, the reliability of the modified path is improved, the user experience is improved, and the technical effects of reducing the failure rate or the workpiece rejection rate of the robot are achieved.

In addition, the path determination method provided by the invention can also have the following additional technical characteristics:

in the above technical solution, the step of modifying the initial information of the middle path point between two adjacent reference points according to the first information of the two adjacent reference points specifically includes:

determining the weight of the middle path point according to the first information of two adjacent reference points;

and determining second information of the middle path point according to the first information and the weight of the two adjacent reference points, and replacing the initial information of the middle path point with the second information.

In this technical solution, the step of modifying initial information of path points distributed between two adjacent reference points based on first information corresponding to the two adjacent reference points in the extending direction of the original trajectory to generate a modified path is explained. Specifically, the method comprises the following steps:

the method comprises the following steps that firstly, the weight corresponding to each path point positioned between two adjacent reference points on an original path is determined based on first information corresponding to the two reference points.

And secondly, respectively determining second information corresponding to each path point based on first information corresponding to two adjacent reference points on the original path and the weight corresponding to each path point between the two reference points, and replacing the original information of the path point with the corresponding second information.

By limiting the steps, the processor can make targeted adjustment on each unrefined path point between any two reference points, and the determined weight can ensure the reliability and smoothness of automatic adjustment of the path points, so that the finally obtained new path can meet the actual requirements of users on the basis of avoiding robot collision, robot motion overtravel and workpiece scrapping. And further, the method for determining the optimized path is realized, the artificial participation degree of path revision is reduced, the path revision efficiency and the revision reliability are improved, and the technical effect of bringing convenience conditions for users is achieved.

In any of the above technical solutions, the initial information includes serial numbers, and the serial numbers of the route points sequentially increase in the extending direction of the original route, where, of two adjacent reference points, a reference point with a smaller serial number is a starting point, and a reference point with a larger serial number is an end point, and the step of determining the weight of the middle route point according to the first information of the two adjacent reference points specifically includes:

determining a first difference value between the sequence number of the intermediate path point and the sequence number of the starting point;

determining a second difference value between the sequence number of the end point and the sequence number of the start point;

an absolute value of a ratio of the first difference and the second difference is determined to obtain a weight.

In the technical scheme, a weight determination method is defined. First, the original path is defined. Specifically, each path point on the original path corresponds to a sequence number identifying the path point. In the extending direction of the original path, that is, the direction of the person along the path, the serial numbers of the multiple path points are sequentially increased, so that the size relationship among the multiple serial numbers can correspond to the sequence of the multiple path points on the path. For any two adjacent reference points, the reference point with the larger sequence number is the end point, whereas the reference point with the smaller sequence number is the starting point, and the path point between the starting point and the end point is the middle path point.

On this basis, the step of determining the weight corresponding to each path point located between two adjacent reference points on the original path based on the first information corresponding to the two reference points specifically includes:

first, a difference value between a sequence number corresponding to the intermediate path point and a sequence number corresponding to the starting point is determined as a first difference value. The first difference value can reflect the path point of which the intermediate path point is the starting point, so that the processor can make different adaptive adjustments to different intermediate path points.

And secondly, determining a difference value between the sequence number corresponding to the end point and the sequence number corresponding to the starting point as a second difference value. The waypoint may divide the path into a plurality of path segments, the second difference corresponding to the number of path segments between the start point and the end point, and similarly the first difference corresponding to the number of path segments between the intermediate waypoint and the start point.

And thirdly, determining the absolute value of the ratio of the first difference value to the second difference value as the weight of the middle path point.

By limiting the steps, the processor can calculate the weights corresponding to the intermediate path points one by one according to the relative positions of the intermediate path points on the path section needing adaptive adjustment, so that each intermediate path point can obtain reliable adaptive adjustment in the process of completing a new path. Therefore, the finally obtained new path has higher smoothness and smaller difference, and the actual requirements of users can be met on the basis of avoiding robot collision, robot motion overtravel and workpiece scrapping. And further, the method for determining the optimized path is realized, the artificial participation degree of path revision is reduced, the path revision efficiency and the revision reliability are improved, and the technical effect of bringing convenience conditions for users is achieved.

In any of the above technical solutions, in the extending direction of the original route, an extending distance of a reference point close to a starting point of the original route is a first distance, an extending distance of another reference point is a second distance, and an extending distance of the intermediate route point is a third distance, and the step of determining the weight of the intermediate route point according to the first information of two adjacent reference points specifically includes:

determining a third difference between the third distance and the first distance;

determining a fourth difference between the second distance and the first distance;

determining an absolute value of a ratio of the third difference and the fourth difference to obtain a weight.

In this technical solution, a second method of determining the weight is defined. First, in the extending direction of the original path, the front end point of the original path is the departure point of the original path. For any two reference points, the travel distance (extension distance) of the reference point close to the above-described departure point on the original path is taken as the first distance. Correspondingly, the reference far away from the departure point takes the travel distance of you on the original path as the second distance. The distance traveled by an intermediate waypoint located between the two reference points on the original path is taken as the third distance.

and step one, determining a difference value between a third distance corresponding to the middle path point and a first distance corresponding to the starting point as a third difference value. The third difference reflects the distance between the intermediate path point and the starting point, so that the processor can make different adaptive adjustments to different intermediate path points.

And secondly, determining a difference value between a second distance corresponding to the end point and a first distance corresponding to the starting point as a fourth difference value. The fourth difference corresponds to the distance between the start point and the end point in the direction of extension of the original path.

And thirdly, determining the absolute value of the ratio of the third difference value to the fourth difference value as the weight of the middle path point.

By limiting the steps, the processor can calculate the weight corresponding to each intermediate path point one by one according to the extension length of the intermediate path point on the path segment needing adaptive adjustment, so that each intermediate path point can obtain reliable adaptive adjustment in the process of completing a new path. Therefore, the finally obtained new path has higher smoothness and smaller difference, and the actual requirements of users can be met on the basis of avoiding robot collision, robot motion overtravel and workpiece scrapping. And further, the method for determining the optimized path is realized, the artificial participation degree of path revision is reduced, the path revision efficiency and the revision reliability are improved, and the technical effect of bringing convenience conditions for users is achieved.

In any of the above technical solutions, the step of determining the second information of the intermediate path point according to the first information and the weight of the two adjacent reference points includes:

and determining second coordinate information of the middle path point by using the first coordinate information, the weight and the interpolation calculation method of two adjacent reference points to obtain second information.

In the technical scheme, the first information corresponding to the original path comprises first coordinate information, and the first coordinate information can reflect the position of a certain structure point on the robot on a certain time node in the machining process. For example, the location of the robot end clamping point.

On the basis of the first information corresponding to two reference points adjacent to each other on the original route and the weight corresponding to each route point between the two reference points, the second information corresponding to each route point is determined, and the original information of the route point is replaced by the corresponding second information. Specifically, the first coordinate information of any two reference points, the weight of a certain intermediate path point between the two reference points, and the interpolation calculation method are combined to determine the second coordinate information corresponding to the intermediate path point as the second information. And then, replacing the initial information corresponding to the coordinate point with the second information, thereby completing the self-adaptive adjustment of the intermediate path point. In this regard, the present application, by limiting the above steps, enables the processor to automatically calculate new coordinates of each intermediate path point according to the interpolation calculation method, the first coordinate information and the weight. Compared with the technical scheme that each intermediate path point between the reference points is manually adjusted by a user in the related art, the method and the device can realize the quick matching of the intermediate path points by automatically calculating the coordinates of the intermediate path points through an interpolation method so as to reduce the time consumption of the user for modifying the original path according to the requirement or the error report. Meanwhile, compared with the technical scheme that the position of the middle path point is manually adjusted by a user in the related art, the reliability of the new path calculated by the method is stronger, and the smoothness is more excellent. And further, the method for determining the optimized path is realized, the path modification efficiency is improved, the reliability of the modified path is improved, the user experience is improved, and the technical effects of reducing the failure rate or the workpiece rejection rate of the robot are achieved.

In any of the above technical solutions, the coordinate information includes absolute coordinate information and/or relative coordinate information.

In the technical scheme, the coordinate information is limited. Specifically, the coordinate information includes relative coordinate information obtained in a relative coordinate system, and/or absolute coordinate information obtained in an absolute coordinate system. A coordinate system is established on each path point in the original path, the obtained coordinate information is relative coordinate information, and the relative coordinate information can embody the relative position relation among the path points. And establishing a world coordinate system outside the robot, wherein the coordinate information obtained on the world coordinate system is absolute coordinate information.

In any of the above technical solutions, the coordinate information is three-dimensional vector information corresponding to a three-dimensional space.

In this technical solution, the relative coordinate information is coordinate information obtained in a three-dimensional relative coordinate system according to the above technical solution. Correspondingly, the absolute coordinate information is obtained in a three-dimensional absolute coordinate system. In the processing process of the processor, the coordinate information is converted into three-dimensional vector information, so that convenience is provided for the processor to process the coordinate information.

and determining second attitude information of the intermediate path point by using the first attitude information, the weight and an interpolation calculation method of two adjacent reference points to obtain second information.

In the technical scheme, the first information comprises first attitude information which can reflect the attitude of the robot at a certain path point, and the attitude information is introduced into the path determining method, so that on one hand, the processor can determine whether the robot collides with a workpiece or a clamp according to the attitude information. Another aspect allows the processor to determine from the pose information whether the pose of the robot has over-traveled.

On the basis of the first information corresponding to two reference points adjacent to each other on the original route and the weight corresponding to each route point between the two reference points, the second information corresponding to each route point is determined, and the original information of the route point is replaced by the corresponding second information. Specifically, the first posture information of any two reference points, the weight of a certain intermediate path point between the two reference points, and the interpolation calculation method are combined to determine the second posture information corresponding to the intermediate path point as the second information. And then, replacing the initial information corresponding to the coordinate point with the second information, thereby completing the self-adaptive adjustment of the intermediate path point. In this regard, the present application, by limiting the above steps, enables the processor to automatically calculate a new pose for each intermediate path point according to the interpolation calculation method, the first pose information, and the weights. Compared with the technical scheme that each intermediate path point between the reference points is manually adjusted by a user in the related art, the intermediate path point posture is automatically calculated through an interpolation method, so that the intermediate path point can be quickly matched, and the time consumption of the user for modifying the original path according to the requirement or the error report is reduced. Meanwhile, compared with the technical scheme that the user manually adjusts the posture of the middle path point in the related art, the reliability of the new posture calculated by the method is high. And further, the method for determining the optimized path is realized, the path modification efficiency is improved, the reliability of the modified path is improved, the user experience is improved, and the technical effects of reducing the failure rate of the robot are achieved.

In any of the above technical solutions, the posture information is a three-dimensional coordinate rotation matrix, and includes normal vector information and tangent vector information.

In the technical scheme, in the process of processing the attitude information by the processor, the attitude information is represented by a three-dimensional coordinate rotation matrix. Thereby providing convenient conditions for the processor to process and calculate the pose information. The three-dimensional coordinate rotation matrix comprises elements corresponding to normal vector information and elements corresponding to tangent vector information.

The second attitude information calculated by the interpolation calculation method is a quaternion, when the initial information of the intermediate path point is modified according to the second attitude information, the quaternion corresponding to the second attitude information and the original attitude information is converted into a rotation matrix, normal vector information elements and tangent vector information elements in the original attitude information are replaced by normal vector information and tangent vector information in the second attitude information, and finally the modified rotation matrix is normalized, so that the self-adaptive updating of the original path can be completed.

and determining second axis position information of the middle path point by using the first axis position information, the weight and an interpolation calculation method of two adjacent reference points to obtain second information.

In the technical scheme, the first information corresponding to the original path comprises first axis position information, and the axis position information can reflect the relative position and/or the absolute position of each rotating shaft of the robot and can be specifically used for confirming the posture of the robot.

On the basis of the first information corresponding to two reference points adjacent to each other on the original route and the weight corresponding to each route point between the two reference points, the second information corresponding to each route point is determined, and the original information of the route point is replaced by the corresponding second information. Specifically, the first axis position information of any two reference points, the weight of a certain intermediate path point between the two reference points, and the interpolation calculation method are combined to determine the second axis position information corresponding to the intermediate path point as the second information. And then, replacing the initial information corresponding to the coordinate point with the second information, thereby completing the self-adaptive adjustment of the intermediate path point. In this regard, the present application, by limiting the above steps, enables the processor to automatically calculate new axis position information for each intermediate path point based on the interpolation calculation, the first axis position information, and the weights. Compared with the technical scheme that each intermediate path point between the reference points is manually adjusted by a user in the related art, the method and the device can realize the quick matching of the intermediate path points by automatically calculating the axis position information of the intermediate path points through an interpolation method, so that the time consumed by the user for modifying the original path according to the requirement or the error report is shortened. Meanwhile, compared with the technical scheme that the position of the middle path point is manually adjusted by a user in the related art, the reliability of the new path calculated by the method is high. And further, the method for determining the optimized path is realized, the path modification efficiency is improved, the reliability of the modified path is improved, the user experience is improved, and the technical effects of reducing the failure rate of the robot are achieved.

In any of the above technical solutions, the axis position information is N-dimensional vector information, and N is the number of reference axes.

In this solution, the shaft position information is defined. Specifically, the axis position information is an N-dimensional vector having the same number of dimensions N as the number of reference axes selected for the difference calculation. In particular, the reference axis may be an external axis of the robot, such as a guide axis, a turntable axis, and other tool axes. Correspondingly, when the external axis is selected as the reference axis, the path difference value is calculated based on the Cartesian space, and interpolation of the pose of the robot is introduced in the calculation process. The pose of the robot itself is determined, for example, by the pose state of the robot tip. The calculation mode is suitable for grinding, gluing or cutting processes, and can provide convenient conditions for process characteristic control. The reference axis may also be the rotation axis of the robot itself, the number of which is the same as the degree of freedom of the robot. Correspondingly, when the rotating shaft of the robot is selected as the reference shaft, the path difference value is calculated based on the robot joint space, and the difference value of the rotating shaft of the robot is introduced in the calculation process. Therefore, the position and the posture of the tail end of the robot are determined according to the positions of the rotating shafts of the robot. The specific selection mode is not limited herein, and can be selected according to the process requirements.

In any of the above technical solutions, the path determining method further includes:

acquiring tool information of a tool loaded by a robot;

determining path compensation information according to the cutter information;

and determining a compensated path according to the modified path and the compensation information.

In this technical solution, after modifying initial information of path points distributed between two adjacent reference points based on first information corresponding to the two adjacent reference points in the extending direction of the original trajectory to generate a modified path, the path determining method further includes the following steps:

firstly, tool information corresponding to a tool clamped on the robot is obtained. The tool information may be at least one of a range of a chip depth of the cutting tool, a tool radius, and an effective chip length of the cutting edge, and may be any combination of the chip depth, the tool radius, and the effective chip length of the cutting edge. The radius of the cutter is used for reflecting the specific size of the cutter, and the cutting depth is used for reflecting the effective cutting distance of the cutter in the depth direction of the workpiece. The effective edge length is used to reflect the effective cutting length of the cutting edge of the tool during machining.

And secondly, determining path compensation information based on the tool information. The path compensation information depends on the specific value of the tool information.

And thirdly, compensating the path compensation information to the modified path to obtain a compensated path.

By introducing the cutter information and compensating the modified path according to the cutter information, the reliability of the path output finally can be improved, and the influence of errors caused by the cutter shape on the actual processing process is avoided. And further, the method for determining the optimized path is realized, the reliability of the compensated path is improved, and the technical effect of reducing the failure rate of the robot is achieved.

A second aspect of the present invention provides a path determination device, including:

the robot comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring an original path and a modification instruction of the robot, and the original path comprises initial information of at least three path points;

the first revising unit is used for taking at least two nonadjacent path points as reference points according to the revising instruction and revising the initial information of the reference points into first information;

and the second revising unit is used for revising the initial information of the middle path point between two adjacent reference points according to the first information of the two adjacent reference points so as to obtain a revised path.

In the technical scheme, the path determining device is applied to the technical field of robot simulation. Specifically, the path determination device includes the following structure:

and the acquisition unit is used for acquiring the original process path of the robot to be adjusted and a modification instruction corresponding to the original process path from the robot offline editing program. The original path of the robot is a preset process path of the robot, and is used for reflecting a motion path of a part of structure points of the robot in the machining process, for example, a motion track of a central point of a clamping structure at the tail end of the robot, or a motion track of a part of rotating shaft connection points, or motion tracks of other structure points in the machining process, and the motion tracks are not rigidly limited. M (an integer greater than or equal to 3) path points are preset on the motion trail, and the M path points are distributed at intervals in the extending direction of the motion trail. Each path point has corresponding initial information, and the initial information can be used for reflecting the position and the posture of the robot under the path point and reflecting the position and the shape information of a workpiece to be processed under the path point.

And the first revising unit is used for determining a target path point corresponding to the modification instruction based on the obtained modification instruction, taking the target path point as a reference point, and replacing the initial information under the reference point with first information corresponding to the modification instruction based on the obtained modification instruction. The number of the datum points is at least two, and in the extending direction of the original path, unmodified path points exist between any two adjacent datum points in the at least two datum points. Thus completing the correction of the partially spaced path points on the original path according to the modification instruction.

And the second revising unit is used for revising the initial information of the path points distributed between two adjacent reference points in the extending direction of the original track based on the first information corresponding to the two adjacent reference points so as to generate a revised path. The automatic correction of the path between any two reference points is completed on the original path so as to ensure that the automatically corrected path between any two reference points can meet the process requirement and the preset motion rule of the robot.

In this respect, the present application defines a route determination device that revises information of a part of route points (reference points) on an original route, and then revises route points between any two reference points automatically. By the path determining device, after a user corrects the first information of partial problem path points by manual modification on a robot off-line editing program, the matching and optimization of the path segments between the problem path points are automatically completed by the path determining device. Therefore, the technical problems that too much time is consumed, the smoothness of difference among path points cannot be accurately ensured, the adjustment of the whole path is inconvenient in the actual use process, and the adjustment operation flexibility is poor due to the fact that each residual path point is manually edited one by one are solved. The user can directly obtain a required new path according to the self requirement, and additional manual operation is omitted. And then realize optimizing the path determination device, improve the route and revise efficiency, promote the reliability of route after revising, promote the user and use experience, reduce the technical effect of robot fault rate or work piece disability rate.

A third aspect of the present invention provides a robot comprising:

a memory having a program or instructions stored thereon;

a processor configured to implement the steps of the path determination method according to any of the above technical solutions when executing a program or instructions.

In this technical solution, a robot provided with the path determining apparatus in the above technical solution is provided, and before controlling the robot to process a workpiece, a user may modify some path points on an original path of the robot on the path determining apparatus, so as to modify the path by adaptive matching. Therefore, the technical problems that too much time is consumed, the smoothness of difference among path points cannot be accurately ensured, the adjustment of the whole path is inconvenient in the actual use process, and the adjustment operation flexibility is poor due to the fact that each residual path point is manually edited one by one are solved. The user can directly obtain a required new path according to the self requirement, and additional manual operation is omitted. And then realize optimizing the robot structure, improve route and revise efficiency, promote the reliability of the route after revising, promote user and use experience, reduce the technical effect of robot fault rate or work piece disability rate.

A fourth aspect of the present invention provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the path determination method according to any one of the above-mentioned embodiments.

In this solution, a readable storage medium is defined, on which a processor and a memory are arranged, the memory being used for storing programs or instructions. The processor is connected with the memory and is used for calling and executing the program or the instruction stored on the memory so as to realize the steps of the path determination method defined in any one of the above technical solutions. Therefore, the readable storage medium has all the advantages of the path determining method according to any one of the above-described embodiments, and the technical effects of the path determining method according to any one of the above-described embodiments can be achieved. To avoid repetition, further description is omitted here.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 shows one of the flow diagrams of a path determination method according to one embodiment of the invention;

FIG. 2 illustrates a second flowchart of a path determination method according to an embodiment of the invention;

FIG. 3 is a third flowchart of a path determination method according to an embodiment of the invention;

FIG. 4 shows a fourth flowchart of a path determination method according to an embodiment of the invention;

FIG. 5 shows a fifth flowchart of a path determination method according to an embodiment of the invention;

FIG. 6 shows a block diagram of a path determination apparatus according to an embodiment of the invention;

fig. 7 shows a block diagram of a robot according to an embodiment of the invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

Path determination methods, apparatuses, robots, and readable storage media according to some embodiments of the present invention are described below with reference to fig. 1 to 7.

Example one

As shown in fig. 1, an embodiment of a first aspect of the present invention provides a path determining method, where the path determining method includes:

102, acquiring an original process path of a robot to be adjusted and a modification instruction corresponding to the original process path from a robot offline editing program;

104, determining a target path point corresponding to the modification instruction based on the obtained modification instruction, taking the target path point as a reference point, and replacing initial information under the reference point with first information corresponding to the modification instruction based on the obtained modification instruction;

and 106, modifying initial information of path points distributed between two adjacent reference points in the extending direction of the original track based on the first information corresponding to the two adjacent reference points to generate a modified path.

In this embodiment, the path determination method is applied to the technical field of robot simulation, and may be applied to the process of off-line programming processing of the robot, and may also be applied to the process of robot simulation. Specifically, the workflow of the path determination method is as follows:

Example two

As shown in fig. 2, in the second embodiment of the present invention, the step of modifying the initial information of the path points distributed between two adjacent reference points in the extending direction of the original track based on the first information corresponding to the two adjacent reference points to generate modified path information specifically includes:

step 202, determining a weight corresponding to each path point between two adjacent reference points on the original path based on first information corresponding to the two reference points;

step 204, respectively determining second information corresponding to each path point based on first information corresponding to two adjacent reference points on the original path and a weight corresponding to each path point between the two reference points, and replacing the original information of the path point with the corresponding second information.

In this embodiment, a description is made of a step of modifying initial information of path points distributed between two adjacent reference points in the extending direction of the original trajectory based on first information corresponding to the two adjacent reference points to generate a modified path. Specifically, the method comprises the following steps:

EXAMPLE III

As shown in fig. 3, in the third embodiment of the present invention, the step of determining the weight corresponding to each path point located therebetween based on the first information corresponding to two adjacent reference points on the original path includes:

step 302, determining a difference value between the sequence number corresponding to the intermediate path point and the sequence number corresponding to the starting point as a first difference value;

step 304, determining a difference value between the sequence number corresponding to the end point and the sequence number corresponding to the start point as a second difference value;

step 306, determining the absolute value of the ratio of the first difference and the second difference as the weight of the intermediate path point.

In this embodiment, a method of determining the weight is defined. First, the original path is defined. Specifically, each path point on the original path corresponds to a sequence number identifying the path point. In the extending direction of the original path, that is, the direction of the person along the path, the serial numbers of the multiple path points are sequentially increased, so that the size relationship among the multiple serial numbers can correspond to the sequence of the multiple path points on the path. For any two adjacent reference points, the reference point with the larger sequence number is the end point, whereas the reference point with the smaller sequence number is the starting point, and the path point between the starting point and the end point is the middle path point.

Specifically, the weight is calculated by the following formula:

W_pi＝Abs((I_i-I_rs)/(I_re-I_rs))。

wherein, W_piRepresenting the weight of the ith intermediate path point between two adjacent reference points, I_iIndicating the sequence number of the ith intermediate path point, I_rsNumber indicating reference point of origin, I_reIndicating the number of end point references.

Example four

As shown in fig. 4, in the fourth embodiment of the present invention, in the extending direction of the original path, an extending distance of a reference point close to a starting point of the original path is a first distance, an extending distance of another reference point is a second distance, an extending distance of an intermediate path point is a third distance, and the step of determining the weight corresponding to each path point located between the two reference points based on the first information corresponding to the two adjacent reference points on the original path specifically includes:

step 402, determining a difference value between a third distance corresponding to the middle path point and the first distance corresponding to the starting point as a third difference value;

step 404, determining a difference value between the second distance corresponding to the end point and the first distance corresponding to the start point as a fourth difference value;

in step 406, the absolute value of the ratio of the third difference to the fourth difference is determined as the weight of the intermediate path point.

In this embodiment, a second weight determination method is defined. First, in the extending direction of the original path, the front end point of the original path is the departure point of the original path. For any two reference points, the travel distance (extension distance) of the reference point close to the above-described departure point on the original path is taken as the first distance. Correspondingly, the reference far away from the departure point takes the travel distance of you on the original path as the second distance. The distance traveled by an intermediate waypoint located between the two reference points on the original path is taken as the third distance.

Specifically, the weight is calculated by the following formula:

W_pi＝Abs((D_i-D_rs)/(D_re-D_rs))。

wherein D is_iIndicates the distance (third distance), D, of the ith intermediate path point_rsIndicates the distance from the starting point (first distance), D_reIndicating the distance of the end point (second distance).

EXAMPLE five

In an embodiment of the fifth aspect of the present invention, the step of determining, based on the first information corresponding to two adjacent reference points on the original path and the weight corresponding to each path point between the two reference points, the second information corresponding to each path point, and replacing the original information of the path point with the corresponding second information includes: and combining the first coordinate information of any two reference points, the weight of a certain intermediate path point between the two reference points and an interpolation calculation method to determine second coordinate information corresponding to the intermediate path point as second information.

In this embodiment, the first information corresponding to the original path includes first coordinate information, and the first coordinate information may reflect a position of a structure point on the robot at a time node in the machining process. For example, the location of the robot end clamping point.

On the basis of the first information corresponding to two reference points adjacent to each other on the original route and the weight corresponding to each route point between the two reference points, the second information corresponding to each route point is determined, and the original information of the route point is replaced by the corresponding second information. Specifically, the first coordinate information of any two reference points, the weight of a certain intermediate path point between the two reference points, and the linear interpolation calculation method are combined to determine the second coordinate information corresponding to the intermediate path point as the second information. And then, replacing the initial information corresponding to the coordinate point with the second information, thereby completing the self-adaptive adjustment of the intermediate path point. In this regard, the present application, by limiting the above steps, enables the processor to automatically calculate new coordinates of each intermediate path point according to the linear interpolation calculation method, the first coordinate information and the weight. Compared with the embodiment that each intermediate path point between the reference points is manually adjusted by a user in the related art, the method and the device for automatically calculating the coordinates of the intermediate path points by the linear interpolation method can realize the quick matching of the intermediate path points, so that the time consumption of the user for modifying the original path according to the requirement or the error report is reduced. Meanwhile, compared with the embodiment that the user manually adjusts the position of the middle path point in the related art, the new path calculated by the method has stronger reliability and more excellent smoothness. And further, the method for determining the optimized path is realized, the path modification efficiency is improved, the reliability of the modified path is improved, the user experience is improved, and the technical effects of reducing the failure rate or the workpiece rejection rate of the robot are achieved.

Specifically, the coordinate information is calculated by the following formula:

P_pi＝P_rs*(1-W_pi)+P_re*W_pi。

P_rscoordinate information representing a starting point, P_reCoordinate information indicating an end point, P_piAnd coordinate information representing the ith intermediate path point between two adjacent reference points.

EXAMPLE six

In an embodiment of the sixth aspect of the present invention, the coordinate information includes relative coordinate information obtained in a relative coordinate system, and/or absolute coordinate information obtained in an absolute coordinate system.

In this embodiment, the coordinate information is defined. Specifically, the coordinate information includes relative coordinate information obtained in a relative coordinate system, and/or absolute coordinate information obtained in an absolute coordinate system. A coordinate system is established on each path point in the original path, the obtained coordinate information is relative coordinate information, and the relative coordinate information can embody the relative position relation among the path points. And establishing a world coordinate system outside the robot, wherein the coordinate information obtained on the world coordinate system is absolute coordinate information.

EXAMPLE seven

In a seventh embodiment of the present invention, the coordinate information is three-dimensional vector information corresponding to a three-dimensional space.

In this embodiment, the relative coordinate information is coordinate information obtained in a three-dimensional relative coordinate system, which is taken in conjunction with the above-mentioned embodiment. Correspondingly, the absolute coordinate information is obtained in a three-dimensional absolute coordinate system. In the processing process of the processor, the coordinate information is converted into three-dimensional vector information, so that convenience is provided for the processor to process the coordinate information.

Example eight

In an embodiment of the eighth aspect of the present invention, the step of determining the second information corresponding to each path point based on the first information corresponding to two adjacent reference points on the original path and the weight corresponding to each path point between the two reference points, and replacing the original information of the path point with the corresponding second information specifically includes: and combining the first attitude information of any two reference points, the weight of a certain intermediate path point between the two reference points and an interpolation calculation method to determine second attitude information corresponding to the intermediate path point as second information.

In this embodiment, the first information includes first posture information, and the first posture information may reflect a posture of the robot at a certain path point, and the posture information is introduced into the path determining method, so that the processor may determine whether a collision occurs between the robot and the workpiece or between the robot and the jig according to the posture information. Another aspect allows the processor to determine from the pose information whether the pose of the robot has over-traveled.

On the basis of the first information corresponding to two reference points adjacent to each other on the original route and the weight corresponding to each route point between the two reference points, the second information corresponding to each route point is determined, and the original information of the route point is replaced by the corresponding second information. Specifically, the first posture information of any two reference points, the weight of a certain intermediate path point between the two reference points and a spherical linear interpolation calculation method are combined to determine the second posture information corresponding to the intermediate path point as the second information. And then, replacing the initial information corresponding to the coordinate point with the second information, thereby completing the self-adaptive adjustment of the intermediate path point. In this regard, the present application, by limiting the above steps, enables the processor to automatically calculate the new pose of each intermediate path point according to the spherical linear interpolation calculation method, the first pose information, and the weight. Compared with the embodiment that each intermediate path point between the reference points is manually adjusted by a user in the related art, the method and the device for automatically calculating the postures of the intermediate path points can realize the quick matching of the intermediate path points through the linear interpolation method, so that the time consumption of the user for modifying the original path according to the requirement or the error report is reduced. Meanwhile, compared with the embodiment that the user manually adjusts the posture of the middle path point in the related art, the reliability of the new posture calculated by the method is higher. And further, the method for determining the optimized path is realized, the path modification efficiency is improved, the reliability of the modified path is improved, the user experience is improved, and the technical effects of reducing the failure rate of the robot are achieved.

Specifically, taking a typical linear interpolation calculation as an example, Q_rsAttitude information indicating a starting point, Q_reAttitude information indicating an end point, Q_piAnd representing the attitude information of the ith intermediate path point between two adjacent reference points. Q_pi＝Slerp(Q_rs,Q_re,W_pi) Where slerp (spherical linear interpolation) represents a spherical linear interpolation computation function of quaternions.

Example nine

In an embodiment of the ninth aspect of the present invention, the pose information is a three-dimensional coordinate rotation matrix including normal vector information and tangent vector information.

In this embodiment, the processor represents the pose information by a three-dimensional coordinate rotation matrix during processing of the pose information. Thereby providing convenient conditions for the processor to process and calculate the pose information. The three-dimensional coordinate rotation matrix comprises elements corresponding to normal vector information and elements corresponding to tangent vector information.

The second attitude information calculated by the spherical linear interpolation calculation method is a quaternion, when the initial information of the intermediate path point is modified according to the second attitude information, the quaternion corresponding to the second attitude information and the original attitude information is converted into a rotation matrix, normal vector information elements and tangent vector information elements in the original attitude information are replaced by normal vector information and tangent vector information in the second attitude information, and finally the modified rotation matrix is normalized, so that the self-adaptive updating of the original path can be completed.

Example ten

In an embodiment of the tenth aspect of the present invention, the step of determining the second information corresponding to each waypoint based on the first information corresponding to two adjacent reference points on the original path and the weight corresponding to each waypoint between the two reference points, and replacing the original information of the waypoint with the corresponding second information specifically includes: and combining the first axis position information of any two reference points, the weight of a certain intermediate path point between the two reference points and an interpolation calculation method to determine second axis position information corresponding to the intermediate path point as second information.

In this embodiment, the first information corresponding to the original path includes first axis position information, which may reflect the relative position and/or the absolute position of each rotation axis of the robot, and may be used to confirm the posture of the robot.

On the basis of the first information corresponding to two reference points adjacent to each other on the original route and the weight corresponding to each route point between the two reference points, the second information corresponding to each route point is determined, and the original information of the route point is replaced by the corresponding second information. Specifically, the first axis position information of any two reference points, the weight of a certain intermediate path point between the two reference points, and the linear interpolation calculation method are combined to determine the second axis position information corresponding to the intermediate path point as the second information. And then, replacing the initial information corresponding to the coordinate point with the second information, thereby completing the self-adaptive adjustment of the intermediate path point. In this regard, the present application, by limiting the above steps, enables the processor to automatically calculate new axis position information for each intermediate path point based on the linear interpolation calculation method, the first axis position information, and the weights. Compared with the embodiment that each intermediate path point between the reference points is manually adjusted by a user in the related art, the method and the device can realize the quick matching of the intermediate path points by automatically calculating the axis position information of the intermediate path points through a linear interpolation method, so that the time consumed by the user for modifying the original path according to the requirement or the error report is shortened. Meanwhile, compared with the embodiment that the user manually adjusts the position of the middle path point in the related art, the reliability of the new path calculated by the method is stronger. And further, the method for determining the optimized path is realized, the path modification efficiency is improved, the reliability of the modified path is improved, the user experience is improved, and the technical effects of reducing the failure rate of the robot are achieved.

Specifically, the shaft position information is calculated by the following formula:

E_pi＝E_rs*(1-W_pi)+E_re*W_pi。

wherein E is_rsAxial position information indicating a starting point, E_reAxial position information representing an end point reference point, E_piAnd axial position information representing an ith intermediate path point between two adjacent reference points.

EXAMPLE eleven

In an embodiment of the eleventh aspect of the invention, the axis position information is N-dimensional vector information, and N is the number of reference axes.

In this embodiment, definition is made for the shaft position information. Specifically, the axis position information is an N-dimensional vector having the same number of dimensions N as the number of reference axes selected for the difference calculation. In particular, the reference axis may be an external axis of the robot, such as a guide axis, a turntable axis, and other tool axes. Correspondingly, when the external axis is selected as the reference axis, the path difference value is calculated based on the Cartesian space, and interpolation of the pose of the robot is introduced in the calculation process. The pose of the robot itself is determined, for example, by the pose state of the robot tip. The calculation mode is suitable for grinding, gluing or cutting processes, and can provide convenient conditions for process characteristic control. The reference axis may also be the rotation axis of the robot itself, the number of which is the same as the degree of freedom of the robot. Correspondingly, when the rotating shaft of the robot is selected as the reference shaft, the path difference value is calculated based on the robot joint space, and the difference value of the rotating shaft of the robot is introduced in the calculation process. Therefore, the position and the posture of the tail end of the robot are determined according to the positions of the rotating shafts of the robot. The specific selection mode is not limited herein, and can be selected according to the process requirements.

Example twelve

As shown in fig. 5, in the twelfth embodiment of the present invention, the path determining method further includes:

502, acquiring cutter information corresponding to a cutter clamped on a robot;

step 504, determining path compensation information based on the tool information;

step 506, the path compensation information is compensated to the modified path to obtain a compensated path.

In this embodiment, after modifying the initial information of the path points distributed between two adjacent reference points in the extending direction of the original track based on the first information corresponding to the two adjacent reference points to generate a modified path, the path determining method further includes the following steps:

EXAMPLE thirteen

As shown in fig. 6, a thirteenth embodiment of the present invention provides a path determining apparatus 600, where the path determining apparatus 600 includes: an obtaining unit 602, configured to obtain an original process path of the robot to be adjusted and a modification instruction corresponding to the original process path from the robot offline editing program; a first revising unit 604, configured to determine, based on the obtained modification instruction, a target path point corresponding to the modification instruction, use the target path point as a reference point, and replace, based on the obtained modification instruction, initial information in the reference point with first information corresponding to the modification instruction; a second revising unit 606, configured to modify initial information of path points distributed between two adjacent reference points in the extending direction of the original track, based on the first information corresponding to the two adjacent reference points, so as to generate a modified path.

In this embodiment, the path determination apparatus 600 is applied in the field of robot simulation technology. Specifically, the path determination device 600 includes the following structure:

an obtaining unit 602, configured to obtain, from the robot offline editing program, an original process path of the robot to be adjusted and a modification instruction corresponding to the original process path. The original path of the robot is a preset process path of the robot, and is used for reflecting a motion path of a part of structure points of the robot in the machining process, for example, a motion track of a central point of a clamping structure at the tail end of the robot, or a motion track of a part of rotating shaft connection points, or motion tracks of other structure points in the machining process, and the motion tracks are not rigidly limited. M (an integer greater than or equal to 3) path points are preset on the motion trail, and the M path points are distributed at intervals in the extending direction of the motion trail. Each path point has corresponding initial information, and the initial information can be used for reflecting the position and the posture of the robot under the path point and reflecting the position and the shape information of a workpiece to be processed under the path point.

The first revising unit 604 is configured to determine a target path point corresponding to the modification instruction based on the obtained modification instruction, take the target path point as a reference point, and replace initial information under the reference point with first information corresponding to the modification instruction based on the obtained modification instruction. The number of the datum points is at least two, and in the extending direction of the original path, unmodified path points exist between any two adjacent datum points in the at least two datum points. Thus completing the correction of the partially spaced path points on the original path according to the modification instruction.

A second revising unit 606, configured to modify initial information of path points distributed between two adjacent reference points in the extending direction of the original track, based on the first information corresponding to the two adjacent reference points, so as to generate a modified path. The automatic correction of the path between any two reference points is completed on the original path so as to ensure that the automatically corrected path between any two reference points can meet the process requirement and the preset motion rule of the robot.

In this regard, the present application defines a route determination device 600 that revises information of a part of route points (reference points) on an original route, and then revises route points between any two reference points automatically. By proposing the path determination device 600, after the user corrects the first information of the partial problem path points by manual modification on the robot off-line editing program, the matching and optimization of the path segments between the problem path points are automatically completed by means of the path determination device 600. Therefore, the technical problems that too much time is consumed, the smoothness of difference among path points cannot be accurately ensured, the adjustment of the whole path is inconvenient in the actual use process, and the adjustment operation flexibility is poor due to the fact that each residual path point is manually edited one by one are solved. The user can directly obtain a required new path according to the self requirement, and additional manual operation is omitted. And then realize optimizing path determination device 600, improve the path and revise efficiency, promote the reliability of the route after revising, promote the user and use experience, reduce the technical effect of robot fault rate or work piece disability rate.

Example fourteen

As shown in fig. 7, a fourteenth aspect embodiment of the present invention provides a robot 700, including a memory 702 having a program or instructions stored thereon; the processor 704, when executing the program or instructions, is configured to implement the steps of the path determination method in any of the embodiments described above.

In this embodiment, a robot 700 is defined, the robot 700 having a processor 704 and a memory 702 disposed thereon, the memory 702 for storing programs or instructions. The processor 704 is connected to the memory 702, and is configured to call and execute a program or an instruction stored in the memory 702 to implement the steps of the path determination method defined in any of the above-mentioned technical solutions. Therefore, the robot 700 has all the advantages of the route specification method according to any one of the above-described embodiments, and the technical effects achieved by the route specification method according to any one of the above-described embodiments can be achieved. To avoid repetition, further description is omitted here.

Example fifteen

An embodiment of a fifteenth aspect of the present invention provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the path determination method as in any of the above embodiments.

In this embodiment, a readable storage medium is defined having a processor and a memory disposed thereon, the memory for storing programs or instructions. The processor is connected to the memory for calling and executing the program or instructions stored in the memory to implement the steps of the path determination method defined in any of the above embodiments. Therefore, the readable storage medium has all the advantages of the path determining method in any of the above embodiments, and the technical effects achieved by the path determining method in any of the above embodiments can be achieved. To avoid repetition, further description is omitted here.

Example sixteen

In one embodiment of the invention, an application plug-in applicable to an off-line programming program of a robot is provided. The application plug-in is used in conjunction with an off-line programming software platform used to implement the path determination method in any of the above embodiments on an off-line programming program.

For example, the application plug-in may be applied to kuka. sim offline programming software, and may also be applied to Siemens Process library offline programming software.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically defined, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining a path, comprising:

acquiring an original path and a modification instruction of a robot, wherein the original path comprises initial information of at least three path points;

and modifying the initial information of the middle path point between the two adjacent reference points according to the first information of the two adjacent reference points to obtain a modified path.

2. The method according to claim 1, wherein the step of modifying the initial information of the intermediate waypoint between two adjacent reference points according to the first information of the two adjacent reference points comprises:

determining the weight of the intermediate path point according to the first information of the two adjacent reference points;

and determining second information of the middle path point according to the first information of the two adjacent reference points and the weight, and replacing the initial information of the middle path point with the second information.

3. The method according to claim 2, wherein the initial information includes serial numbers, the serial numbers of the route points sequentially increase in an extending direction of the original route, a reference point with a smaller serial number of the two adjacent reference points is a starting point, and a reference point with a larger serial number of the two adjacent reference points is an end point, and the step of determining the weight of the intermediate route point based on the first information of the two adjacent reference points specifically includes:

determining a second difference between the sequence number of the end point and the sequence number of the start point;

determining an absolute value of a ratio of the first difference and the second difference to obtain the weight.

4. The method according to claim 2, wherein in the extending direction of the original route, an extending distance of a reference point adjacent to the starting point of the original route is a first distance, an extending distance of another reference point is a second distance, an extending distance of the intermediate route point is a third distance, and the step of determining the weight of the intermediate route point according to the first information of the two adjacent reference points specifically comprises:

determining an absolute value of a ratio of the third difference and the fourth difference to obtain the weight.

5. The method according to claim 4, wherein the first information includes first coordinate information, and the step of determining the second information of the intermediate waypoint according to the first information of the two adjacent reference points and the weight includes:

and determining second coordinate information of the intermediate path point by the first coordinate information of the two adjacent reference points, the weight and an interpolation calculation method to obtain the second information.

6. The path determination method according to claim 5, characterized in that the coordinate information comprises absolute coordinate information and/or relative coordinate information.

7. The path determination method according to claim 5, wherein the coordinate information is three-dimensional vector information of a corresponding three-dimensional space.

8. The method according to claim 2, wherein the first information includes first posture information, and the step of determining the second information of the intermediate waypoint based on the first information of the two adjacent reference points and the weight includes:

and determining second attitude information of the intermediate path point by the first attitude information of the two adjacent reference points, the weight and an interpolation calculation method to obtain the second information.

9. The path determination method according to claim 8, wherein the pose information is a three-dimensional coordinate rotation matrix including normal vector information and tangent vector information.

10. The method according to claim 2, wherein the first information includes first axis position information, and the step of determining the second information of the intermediate waypoint based on the first information of the two adjacent reference points and the weight includes:

and determining second axis position information of the intermediate path point by the first axis position information of the two adjacent reference points, the weight and an interpolation calculation method to obtain the second information.

11. The path determination method of claim 10, wherein the axis position information is N-dimensional vector information, N being the number of reference axes.

12. The path determination method according to any one of claims 1 to 11, further comprising:

acquiring tool information of a tool loaded by the robot;

determining path compensation information according to the cutter information;

13. A path determination device, comprising:

the robot path modifying device comprises an acquiring unit, a processing unit and a processing unit, wherein the acquiring unit acquires an original path and a modifying instruction of the robot, and the original path comprises initial information of at least three path points;

the first revising unit takes at least two nonadjacent path points as reference points according to the revising instruction and revises initial information of the reference points into first information;

and the second revising unit modifies the initial information of the middle path point between the two adjacent reference points according to the first information of the two adjacent reference points to obtain a modified path.

14. A robot is characterized by comprising

A memory having a program or instructions stored thereon;

a processor configured to implement the steps of the path determination method as claimed in any one of claims 1 to 12 when executing the program or instructions.

15. A readable storage medium on which a program or instructions are stored, which program or instructions, when executed by a processor, carry out the steps of the path determination method according to any one of claims 1 to 12.