Track generation method for balancing impact dynamic load in robot picking and placing task

• Main Author: ZHAO QICHUN
• Format: Patent
• Language: Chinese; English
• Published: 20.11.2020
• 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 a track generation method for balancing impact dynamic load in a robot picking and placing task. The method comprises steps of obtaining link and joint parameters, obtaining apose mathematical model of the six-axis robot joint and the end effector and obtaining intersection point positions of the three intersected connecting rods; calculating the component of the tail endrotating rod to obtain the set axial angles of the three crossed connecting rods; obtaining a Lagrange model by summing the product of the externally applied acting force and the virtual displacementset of the generalized coordinates to be zero; selecting a plurality of path points in a sliding manner for track fitting, obtaining a picking and placing movement track, obtaining a set power value to optimize external load distribution torque, calculating a joint rotation angle according to the set optimized power value, and combining the obtained picking and placing movement track to obtain theoptimized picking and placi