Robot continuous point position motion planning method and motion controller thereof

Abstract

The invention discloses a robot continuous point position motion planning method. The method comprises the steps of (1) determining the motion information of at least two data points; (2) adding at least two auxiliary points on a motion curve formed by two adjacent data points to divide the motion curve into at least three curve sections equally according to time; (3) determining boundary conditions according to the motion information of the two adjacent data points and the restriction conditions of the auxiliary points; (4) determining the parameters to be determined of all curve sections on the motion curve on the basis of a cubic spline function and boundary conditions so that the robot continuous point position motion planning can be achieved. According to the technical scheme, the cubic spline function is adopted to carry out the continuous point position motion planning, more boundary conditions can be assigned, and therefore the fact that the whole motion process is smooth, stable and free of shock is achieved; the problem of overshoot callback can be solved at the same time. The invention further provides a motion controller for achieving the robot continuous point position motion planning method.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a robot continuous point motion planning method. Background technique [0002] At present, with the continuous development of automation technology and the wide application of applications, industrial robots have replaced traditional manpower in the fields of handling, welding, packaging, and printing. The motion process of industrial robots needs to give an efficient and reasonable plan under various working conditions. Traditionally, the motion planning of industrial robots is divided into PTP motion (point-to-point) and CP motion (continuous path). Among them, PTP control is the simplest, without interpolation calculation, and each axis can complete its own planning independently at the same time. It is often used for quick positioning and handling tasks. [0003] The basic PTP movement starts from rest, and when the target point is reached, the velocity decreases ...

AI Technical Summary

Problems solved by technology

Disadvantages are: 1. The intermediate point obtained by teaching or calculation will not be reached accurately, but only "close" to the point; 2. The speed of the entire trajectory may still be discontinuous. For example, when the range of "close" is too small, its speed is continuous The effect is not obvious, there will still be an obvious deceleration process, but it will not decelerate to zero; if the "closer" range is too large, the next target point will start to move when the error from the middle target point is large

[0007] 2. If the shape cannot be preserved, there will be an overshoot callback problem

The smoothness of the spline can lead to undesired motion, for example, a joint is not involved in the motion for a certain period of time, but because the spline smoothes the curve, it will produce unnecessary motion

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