机械制造与自动化2024，Vol.53Issue(4)：235-240,286,7.DOI:10.19344/j.cnki.issn1671-5276.2024.04.045
一种面向工业应用的机器人回位方法
A Robot Homing Method for Industrial Applications
侯龙潇1
作者信息
- 1. 河南省机械设计研究院有限公司,河南 郑州 450003
- 折叠
摘要
Abstract
For the abnormal halt of industrial robots in the working process resulting in their postures in an unknown state and the failure of automatic return to the initial position from the halt position,a homing method for industrial robot is proposed,which includes designing a robot return path,classifying the robot's pose information by combining the k-nearest neighbour algorithm and constructing return space and spatial classification threshold,reconstructing the robot feature data for decision tree model training andexcuting the robot regression program after using the trained model decision return path.Thus theautomatic return of industrial robots to the initial position being realized.The experimental results show that the success rate of robot return is 93.3%in random posture and with various tools.关键词
工业机器人/回位方法/空间构造/路径设计/决策树算法/k-近邻算法Key words
industrial robot/homing method/spatial structure/path design/decision tree algorithm/k-nearest neighbour algorithm分类
信息技术与安全科学引用本文复制引用
侯龙潇..一种面向工业应用的机器人回位方法[J].机械制造与自动化,2024,53(4):235-240,286,7.
