| 摘要 |
A path is generated for an end effector arranged at a top of links of a multiaxial robot, where the end effector is moved along the path from a start point thereof to an end point thereof. In generating the path, the start and end points are positionally specified in the real space, and initial pass points are also generated between the start and end points. Coordinate positions of both specified start and end points and generated initial pass points are converted to angles of the respective axes of the joints. Based on the start and end points and initial pass points, which have been converted to the joint angle space, the path is generated which enables the end effector to be moved in the shortest time from its start point to its end point, during the initial pass points are changed repeatedly for generating the path. |
| 主权项 |
1. A method of generating a path for multiaxial robot provided with a plurality of movable axes composed of a plurality of links and a plurality of joints, an end effector being arranged at a top of the links connected with the joints and being moved along the path, the method being performed by a control unit and comprising steps of:
reading a start point and an end point in a three-dimensional space, the start point and the end point being given to the robot; generating a pass point between the start point and the end point in the space; producing a path connecting the start point, the pass point and the end point; calculating, based on the path, a velocity pattern of the end effector under a Bobrow's method, the path being accompanied by a parameter indicting the path; producing a time duration which is necessary for the end effector to move along the path; and comparing a currently produced time duration with a previously produced time duration to check that a difference between the time durations is below a determined threshold; wherein when the difference is not below the threshold in the comparing step,
updating the pass point; andrepeating the step of producing the pass, the calculating step, the step of producing the time duration, and the comparing step until the difference becomes lower than the threshold; and when the difference is below the predetermined threshold in the comparing step, a current path is for use of the robot, wherein the calculating step comprises, converting the parameter showing the path into a position of the end effector in the space, and converting the position of the end effector in the space into an angle of each of the joints used for controlling each joint. |
