Auxiliary-point-crossing-attitude space circular interpolation method for industrial robot

• Main Authors: WANG JIHU, XIA ZHENGXIAN, ZANG XIUJUAN, FENG RIYUE, WANG MINGXIN
• Format: Patent
• Language: English
• Published: 24.02.2016
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses an auxiliary-point-crossing-attitude space circular interpolation method for an industrial robot. The method comprises the following steps that: a robot controller determines space non-collinear three points of demonstration of a demonstrator by a communication port; according to a space geometry relation, space discrete point calculation is carried out directly, thereby obtaining a center of a circle, a radius, a normal vector, a central angle, and an arc length of the space circular arc; attitude planning is carried out to enable a movement locus to pass through an auxiliary point attitude, wherein the locus is smooth; a velocity locus planning module calculates interpolation displacement of each interpolation period; an interpolation point pose of each interpolation period is calculated by using a real-time interpolation algorithm; and a pose meeting a demonstration requirement finally is provided for a robot moving mechanism by a communication port and is executed. According to the invention, problems of difficult circle center demonstration and arc direction determination can be solved. Moreover, the calculation efficiency and the interpolation precision are high; rapid interpolation of the robot can be realized; and the control precision is high. Passing through the auxiliary point attitude smoothly is realized; and the application field of the robot is extended.