Trajectory planning method for double-robot coordinative assembling based on spline curve B

Trajectory planning method for double-robot coordinative assembling based on spline curve B

The invention provides a trajectory planning method for double-robot coordinative assembling based on a spline curve B, and belongs to the field of trajectory planning. According to the method, a task module, a master-slave robot joint trajectory planning module, an obstacle avoidance strategy modul...

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Bibliographische Detailangaben
Hauptverfasser: LI JUNYUAN, LONG RUIJIE, LI MINGFU, ZHAO YANMEI, TONG ZHONGWEN
Format: Patent
Sprache:chi ; eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FORADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORYOR FORECASTING PURPOSES
ELECTRIC DIGITAL DATA PROCESSING
PHYSICS
SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE,COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTINGPURPOSES, NOT OTHERWISE PROVIDED FOR
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Beschreibung
Zusammenfassung:The invention provides a trajectory planning method for double-robot coordinative assembling based on a spline curve B, and belongs to the field of trajectory planning. According to the method, a task module, a master-slave robot joint trajectory planning module, an obstacle avoidance strategy module, a multi-objective optimization module and an industrial robot driver are included. According to the master-slave robot joint trajectory planning module, the joint trajectory planning method for double-robot coordinative assembling based on the spline curve B and a coordinative assembling error compensating method are invented; according to the obstacle avoidance strategy module, a double-robot deep search obstacle avoidance strategy is invented; according to the multi-objective optimization module, a multi-objective planning method for solving the kinematic constraint conditions that robot coordinative assembling has little time and the assembling track is smooth based on a swarm intelligence algorithm is invent