KR100191752B1 - Curv linear compensating method of robot - Google Patents

Abstract

The present invention relates to a curve interpolation method of the robot, conventionally, since the movement of the robot is by a linear interpolation method, the entire operation does not become continuous due to the stopping motion for each waypoint, which causes problems. According to the present invention, curve interpolation is generated according to L / U factorization or Gaussian elimination method, and then the robot is moved by the calculated distance, so that the robot can be smoothly moved to the end point and the curve is In the meantime, it relates to the robot's curve interpolation method which makes the robot move continuously.

Description

Curve interpolation method of robot

1 is a flow chart in accordance with the operation of the present invention.

2 is a flow chart of the prior art.

The present invention relates to a method of curve interpolation of a robot.

In general, in the position control of the robot system, the conventional technique uses a linear interpolation method, so that the robot is moved while moving in a straight line between each given waypoints as shown in Table 1 below.

Therefore, because the robot pauses at each waypoint and moves to the next waypoint, the robot's movement cannot be continuous. Therefore, when the robot moves along an arbitrary curve, it is not continuous. The performance of the work was not as expected due to the poor robot movement.

That is, when the painting work is not only uniform coating thickness, but also because it moves in a continuous form of a straight line has a problem that even the undesired parts are painted, the operation sequence is shown in Figure 2 As shown.

[Step 1]

Receive data of starting point (P1 '), waypoint and end point (Pn').

Find the distance between the straight line and each route.

[Step 2]

By the linear interpolation method, the straight line distance between the start point P1 'and the end point Pn' and the distance between each passing point are obtained.

[Step 3]

The robot is moved by the distance between the points obtained in the second step.

In the conventional method as described above, problems such as tremor and smooth movement occur during the movement of the robot. The purpose is to provide.

Hereinafter, a method and an effect for achieving the object of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, the positional data of each waypoint is given and the polynomial of the curve passing through the waypoint is obtained by using L / U factorization or Gaussian elimination algorithm. The robot is moved according to the curve interpolation using this polynomial.

Here, L / U factorization and Gaussian elimination algorithm are used to obtain coefficients of general polynomials in linear system using matrices.

(The above L / U factorization and Gaussian elimination equations cited in the numerical analysis are omitted below for simplicity.)

The above operation sequence is as follows.

[Example 1]

Receive data for start, stop and end points.

[Example 2]

Calculate the n-1th polynomial according to L / U factorization or Gaussian elimination

[Example 3]

Curve interpolation is performed using the equation in Operation Example 2.

[Example 4]

Move the robot to the end point according to the result of curve interpolation.

The actual movement of the robot of the present invention that has completed the above process is as follows.

By doing this, the thickness of the coating can be made uniform when the painting work is performed along an arbitrary curve, and the working time can be shortened because it is not stopped at each passing point.

As described above, the present invention is to make the robot move smoothly from the starting point to the waypoint, and to make the continuous movement without stopping operation.

Claims (1)

A method of moving a robot, comprising: a first step of receiving data of a starting point (P1), a waypoint, and an end point (Pn), and calculating an n-first polynomial based on L / U factorization or Gaussian elimination method A second step, a third step of performing curve interpolation using the equation in the second step, a fourth step of moving the robot by the calculated distance, and determining whether the current position of the robot is the end point Pn Otherwise, returning to the third step and performing the work if the current position is the end point (Pn).