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SCARA robot PTP trajectory planning method based on exponential function

A trajectory planning and exponential function technology, which is applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of continuous smoothing at the same time, and achieve the effect of reducing jitter and simple formula calculation

Active Publication Date: 2014-10-08
JIANGNAN UNIV +1
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the velocity, acceleration and jerk curves of the optimal trajectory of the joint space time of the SCARA robot cannot be continuously smoothed at the same time, and propose a velocity trajectory planning method based on an exponential function, which not only has continuous smooth velocity, acceleration and jerk Curve, and the formula calculation is simple, the planning method only needs to set two parameters: time gain α and delay time T d

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  • SCARA robot PTP trajectory planning method based on exponential function
  • SCARA robot PTP trajectory planning method based on exponential function
  • SCARA robot PTP trajectory planning method based on exponential function

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[0015] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0016] Purpose of the present invention: aiming at the problem that the velocity, acceleration and jerk curves of the joint space-time optimal trajectory of the SCARA robot cannot be continuously smoothed at the same time, a velocity trajectory planning method based on a 3-time exponential function is proposed, which not only has continuously smooth velocity, acceleration and jerk curves Jerk curve, and the formula calculation is simple, the planning method only needs to set two parameters: time gain α and delay time T d , the planned trajectory can be determined.

[0017] The basic idea of ​​the present invention: first establish the kinematics model of the SCARA robot, then obtain the displacement of each joint accordin...

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Abstract

The invention provides an SCARA robot PTP trajectory planning method based on an exponential function. By means of the method, motion trail time can be optimal on the condition of guaranteeing that a speed curve, an acceleration curve and a jerk curve of an SCARA robot are smooth and continuous. The method has the advantages that the formula is simple, and the calculated amount is small. Firstly, a kinematic model of the SCARA robot is established; secondly, displacement of all joints is obtained according to target poses; thirdly, delay time Td is obtained according to joint space displacement required by motion; fourthly, time gain alpha is obtained according to limiting conditions in the operating process of an actuator; finally, an exponential function speed trajectory curve is determined according to the obtained delay time and the obtained time gain to complete planning.

Description

technical field [0001] The present invention relates to the field of robot trajectory planning, specifically for the SCARA (Selective Compliance Assembly Robot Arm) robot PTP (Point to Point motion) trajectory motion form, and proposes a speed curve planning method based on an exponential function to ensure that the trajectory of the robot in the joint space Speed, acceleration, jerk curves are continuous and smooth. Background technique [0002] With the continuous improvement of the requirements for operation accuracy and work efficiency in various fields of robot application, the robot is required to complete the operation quickly and accurately, that is to say, the robot must ensure the optimal trajectory and the shortest operation time during operation. Therefore, The trajectory planning of the robot has become the key research content. [0003] Trajectory planning refers to designing a reasonable robot trajectory under the constraints of robot kinematics and dynamics....

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Application Information

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IPC IPC(8): G05B13/04
Inventor 白瑞林赵登步吉峰
Owner JIANGNAN UNIV
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