Research On Pose Synchronization And Dynamic Interpolation Algorithm For Short Line Segments Of Industrial Robots

Industrial robots play an important role in automated production and intelligent manufacturing due to their high flexibility and low cost.When processing complex curves and curved surfaces,the path is usually discretized into a linear path formed by splicing small line segments.The movement of small line segments is the basis for the robot to perform complex curve motions.The small line segment path only has G0 continuity,so when moving along the small line segment,it must stop at the connection point of the path point,resulting in reduced processing efficiency and poor motion stability.For this reason,the small line segment path needs to be smoothed.The small line segment path of the robot contains position and posture.Usually the position and posture path obtained by path smoothing are coupled together(the shape of the posture path is determined by the position path),resulting in poor posture motion stability on some special paths(the connection of small displacement and large posture motion with large displacement and small posture motion).To this end,this paper proposes a pose synchronization algorithm—virtual straight line fitting method to determine the motion synchronization relationship between position and pose path(hereinafter referred to as pose synchronization).The nature of the robot’s motion constraints is jointly determined by physical equipment such as motors,reducers,etc.,which is manifested in the limitations of the angular velocity and angular acceleration of each joint.However,in order to ensure the accuracy of the motion path,trajectory planning is usually carried out in Cartesian space in practical applications.Cartesian space to joint space motion constraints present a multi-axis coupling relationship that depends on pose.For this reason,this paper proposes a numerical method to solve the limiting speed of path points in Cartesian space.In addition,this paper also proposes an improved bidirectional scanning algorithm,which combines small line segments through backtracking and forward looking,which solves the problem of frequent changes in acceleration caused by traditional algorithms,and better exerts the robot’s motion performance.Industrial robots usually need to interact with the external environment when they are moving,such as waiting for the conveyor belt to reach a specified position.Therefore,some path points may need to be acquired or even adjusted during the movement,which brings challenges to traditional motion interpolation algorithms.To this end,this paper proposes a dynamic planning and interpolation strategy based on floating windows,which fits small line segments in real time and adjusts the trajectory planning results,improves the overall operating efficiency,reduces the calculation and storage pressure of the controller,and ensures the real-time nature of robot movement.Finally,based on HSR-JR605 robot,simulation platform and actual test environment are built to verify the effectiveness of the proposed algorithm.