广东工业大学学报 ›› 2020, Vol. 37 ›› Issue (04): 21-26.doi: 10.12052/gdutxb.200001

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手把手示教喷涂机器人的示教数据优化方法

陈宇鹏, 高伟强, 卢一光   

  1. 广东工业大学 机电工程学院，广东 广州 510006
  • 收稿日期:2020-01-02 出版日期:2020-07-11 发布日期:2020-07-02
  • 通信作者: 高伟强(1964-)，男，副教授，硕士生导师，主要研究方向为数控技术和工业自动化，E-mail：WQGalt@139.com E-mail:WQGalt@139.com
  • 作者简介:陈宇鹏(1994-)，男，硕士研究生，主要研究方向为工业机器人运动控制
  • 基金资助:
    广东省科技计划项目(2016B090911001)

A Teaching Data Optimization Method of Hand by Hand Teaching Spray Robot

Chen Yu-peng, Gao Wei-qiang, Lu Yi-guang   

  1. School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2020-01-02 Online:2020-07-11 Published:2020-07-02

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摘要： 针对手把手示教喷涂机器人再现运动不平稳、整体运行速度低等问题, 提出了一种基于样条曲线拟合和运动规划的优化方法。通过使用非均匀B样条曲线对示教轨迹进行拟合计算, 得到位姿拟合曲线。位置曲线和姿态曲线是分开进行离散化的。位置曲线基于S型加减速进行离散化, 减速点的寻找采用双向插补的方法。姿态和位置的同步问题, 采用建立姿态曲线参数与位置曲线参数的映射关系解决。通过仿真和实验验证了该算法能够有效地提高示教机器人再现运动的平稳性和运行速度。

关键词: 手把手示教, 喷涂机器人, 运动优化

Abstract: In view of the unsteady motion and low overall running speed of the hand by hand teaching spray robot, an optimization method based on spline curve fitting and motion planning is proposed. By using the non-uniform B-spline curve to fit the teaching track, the position and attitude fitting curve is obtained. The position curve and attitude curve are discretized separately. The position curve is discretized based on S-type acceleration and deceleration, and the two-way interpolation method is used to find the deceleration point. The problem of attitude and position synchronization is solved by establishing the mapping relationship between the parameters of attitude curve and position curve. Simulation and experiment show that the algorithm can effectively improve the stability and running speed of the teaching robot.

Key words: hand by hand teaching, spray robot, motion optimization

中图分类号: 

  • TP242.2
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