Method for generating a path of a multi-axis robot and control device for the multi-axis robot

摘要

A method of generating a path for a multi-axis robot (1) provided with a plurality of movable axes (J1, J2) formed of a plurality of links (AM1, AM2) and a plurality of links (JT1, JT2) with an end actuator (EF) attached to a tip of the links connected to the hinges (JT1, JT2) and moving along the path, the method being performed by a control unit (9), the method comprising the following steps Reading a start point and an end point in a three-dimensional space, passing the start and end points to the robot (1); Creating a transit point between the specified start and end points in the space; a first creation of a path connecting the start, transit and end points; Calculating, based on the path, a speed pattern of the final actuator according to the method of Bobrow, the path associated with a parameter indicating the path; secondly creating a time required for the final actuator (EF) to move along the path; Comparing this time period with a previously calculated time period that is generated to check that a difference between these time periods is below a predetermined threshold value; wherein if the difference in the step of comparing is not below the predetermined threshold: updating the transit point, repeatedly including changes in the initial passpoint; Repeating, based on the repeatedly changed pass point, the steps of first creating, calculating, second creating, and comparing until the difference is less than the predetermined threshold; and if the difference in the step of comparing is below the predetermined threshold, then the currently created path of use is for the robot (1), wherein the step of calculating comprises: first converting the parameter indicative of the path to a position the final actuator (EF) in the room; second converting the position of the final actuator (EF) to an angle of each joint (JT1, JT2) used to control each joint (JT1, JT2).