CN114375431A - 用于工业机器人的轨迹简化方法及设备、计算机存储介质以及工业机器人操作平台 - Google Patents
用于工业机器人的轨迹简化方法及设备、计算机存储介质以及工业机器人操作平台 Download PDFInfo
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- CN114375431A CN114375431A CN201980100063.5A CN201980100063A CN114375431A CN 114375431 A CN114375431 A CN 114375431A CN 201980100063 A CN201980100063 A CN 201980100063A CN 114375431 A CN114375431 A CN 114375431A
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- 238000004590 computer program Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39298—Trajectory learning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40476—Collision, planning for collision free path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
一种用于工业机器人的轨迹简化方法、轨迹简化设备(3000)、计算机存储介质以及工业机器人操作平台,该方法包括:根据工业机器人的示教过程,生成用于工业机器人的完整轨迹;以及对完整轨迹进行简化,以便得到特征点集合,其中特征点集合β(j)包含于原始点集合α(i),并且对于原始点集合中与β(j‑1)对应的α(ij‑1)和与β(j)对应的α(ij)之间的任意点α(p),该任意点α(p)与以β(j‑1)和β(j)为端点的直线线段间的近似误差小于或等于误差容限值d,ij‑1<p<ij,以及其中近似误差根据α(ij‑1)与α(p)之间的弦长以及α(ij‑1)与α(p)之间的弧长两者所确定;该计算机存储介质包括指令,指令在运行时执行轨迹简化方法;该工业机器人操作平台包括轨迹简化设备(3000)。
Description
PCT国内申请,说明书已公开。
Claims (18)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
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PCT/CN2019/104778 WO2021042389A1 (zh) | 2019-09-06 | 2019-09-06 | 用于工业机器人的轨迹简化方法及设备、计算机存储介质以及工业机器人操作平台 |
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CN114375431A true CN114375431A (zh) | 2022-04-19 |
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CN201980100063.5A Pending CN114375431A (zh) | 2019-09-06 | 2019-09-06 | 用于工业机器人的轨迹简化方法及设备、计算机存储介质以及工业机器人操作平台 |
Country Status (3)
Country | Link |
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CN (1) | CN114375431A (zh) |
DE (1) | DE112019007488T5 (zh) |
WO (1) | WO2021042389A1 (zh) |
Families Citing this family (1)
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DE102021125628B3 (de) | 2021-10-04 | 2022-10-13 | Physik Instrumente (PI) GmbH & Co KG | Geschwindigkeitsvorgaben zur Trajektorienbestimmung von Kinematiken |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4613943A (en) * | 1983-04-13 | 1986-09-23 | Hitachi, Ltd. | Operation teaching method and apparatus for industrial robot |
JP2013071231A (ja) * | 2011-09-29 | 2013-04-22 | Panasonic Corp | ロボットアームの教示装置、ロボット装置、教示方法、ロボットアームの制御装置、ロボットアームの制御プログラム、並びに、集積電子回路 |
CN103645725A (zh) * | 2013-12-27 | 2014-03-19 | 广东省自动化研究所 | 一种机器人示教轨迹规划方法和*** |
US20150290801A1 (en) * | 2014-04-10 | 2015-10-15 | Kabushiki Kaisha Yaskawa Denki | Teaching system, robot system, and teaching method |
CN105785921A (zh) * | 2016-03-25 | 2016-07-20 | 华南理工大学 | 一种工业机器人nurbs曲线插补时的速度规划方法 |
CN108537808A (zh) * | 2018-04-08 | 2018-09-14 | 易思维(天津)科技有限公司 | 一种基于机器人示教点信息的涂胶在线检测方法 |
CN108582071A (zh) * | 2018-04-26 | 2018-09-28 | 华中科技大学 | 一种工业机器人编程轨迹诊断及速度优化的方法 |
CN110196590A (zh) * | 2019-04-23 | 2019-09-03 | 华南理工大学 | 一种用于机器人路径跟踪的时间最优轨迹规划***及方法 |
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2019
- 2019-09-06 CN CN201980100063.5A patent/CN114375431A/zh active Pending
- 2019-09-06 WO PCT/CN2019/104778 patent/WO2021042389A1/zh active Application Filing
- 2019-09-06 DE DE112019007488.1T patent/DE112019007488T5/de active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4613943A (en) * | 1983-04-13 | 1986-09-23 | Hitachi, Ltd. | Operation teaching method and apparatus for industrial robot |
JP2013071231A (ja) * | 2011-09-29 | 2013-04-22 | Panasonic Corp | ロボットアームの教示装置、ロボット装置、教示方法、ロボットアームの制御装置、ロボットアームの制御プログラム、並びに、集積電子回路 |
CN103645725A (zh) * | 2013-12-27 | 2014-03-19 | 广东省自动化研究所 | 一种机器人示教轨迹规划方法和*** |
US20150290801A1 (en) * | 2014-04-10 | 2015-10-15 | Kabushiki Kaisha Yaskawa Denki | Teaching system, robot system, and teaching method |
CN105785921A (zh) * | 2016-03-25 | 2016-07-20 | 华南理工大学 | 一种工业机器人nurbs曲线插补时的速度规划方法 |
CN108537808A (zh) * | 2018-04-08 | 2018-09-14 | 易思维(天津)科技有限公司 | 一种基于机器人示教点信息的涂胶在线检测方法 |
CN108582071A (zh) * | 2018-04-26 | 2018-09-28 | 华中科技大学 | 一种工业机器人编程轨迹诊断及速度优化的方法 |
CN110196590A (zh) * | 2019-04-23 | 2019-09-03 | 华南理工大学 | 一种用于机器人路径跟踪的时间最优轨迹规划***及方法 |
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Publication number | Publication date |
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WO2021042389A1 (zh) | 2021-03-11 |
DE112019007488T5 (de) | 2022-03-10 |
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