The invention discloses a
robot small-line-segment proactive
planning method based on position and posture restraint. The small-line-segment proactive
planning method is adopted to obtain
angular velocity planning data of each joint of a
robot, the method is characterized by adopting a fusion
velocity vector to take the place of a linear velocity to serve as a planning variable in the proactive
planning method, wherein v1, v2 and v3 represent the linear velocities of a
tail end coordinate
system origin moving along base coordinate X, Y and Z axial directions, and
omega1,
omega2 and
omega3 represent angular velocities of
euler angles. The
robot small-line-segment proactive planning method based on the position and posture restraint has the advantages that the positions and postures are restrained, the situations that any one of the positions and postures of the
tail end coordinate
system suddenly changes or the positions and postures of the
tail end coordinate
system simultaneously suddenly change can be effectively avoided, if the postures are not changed, the linear velocity can reach a set maximum value, the efficiency is high, the posture velocity and linear velocity are fused into an variable, the controlled variable is reduced, the calculation is simpler, and the operating rate is quicker.