Series connection mechanism locus planning method

A trajectory planning and series mechanism technology, applied in attitude control and other directions, can solve problems such as structural damage and high impact strength

Inactive Publication Date: 2016-02-03
TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

[0004] In order to solve the above-mentioned problem of structural damage caused by excessive vibration and impact strength in the above-mentioned series mechanism, the present invention provides a method for trajectory planning of the series mechanism, which calculates each mechanism of the series mechanism through a segmented high-order polynom

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[0057] 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 the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. On the contrary, the invention covers any alternatives, modifications, equivalent methods and schemes within the spirit and scope of the invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the detailed description of the present invention below. The present invention can be fully understood by those skilled in the art without the description of these detailed parts.

[0058] The present invention will be further described below in conjunction with the accompanying drawings and ...

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Abstract

The invention provides a series connection mechanism locus planning method, comprising steps of calculating change rules of various mechanism joint angles, angular velocity and angular acceleration of the series connection mechanism through a segmented high order polynomial interpolation, performing acceleration restriction on a connection rod which exceeds a locus segment of the acceleration restriction value, and obtaining the time number of the highest order to obtain the corrected locus planning result. In the process of working, the moments of the various joints of the series connection mechanism are dramatically increased, which cause substantial damage to the structure. In the process of planning the polynomial locus, the invention can inversely calculate the highest order time number of the polynomial of the segment locus through restricting the angular acceleration in the stipulated range, finishes the second time planning of the polynomial of the segment locus and guarantees the various joints of the series connection mechanism to work stably.

Description

technical field [0001] The invention belongs to the technical field of automatic operation planning of serial mechanisms, and in particular relates to a method for trajectory planning of serial mechanisms. Background technique [0002] With the development of the industrial level, robotic automation operations are increasingly widespread, such as various industrial robots, construction machinery robots, and robots used in daily life. In order to accurately complete the tasks of robots, trajectory planning is a very important task. It can Ensure that each series mechanism can complete its work tasks with reasonable position, speed and acceleration. In the method of trajectory planning for serial mechanisms, many domestic and foreign scholars have proposed many methods, mainly including segmental polynomial trajectory planning methods under different conditions, such as 3-5-3, 4-3-4, 3-3-3 ···5 and other polynomial interpolation methods, 5th and 7th polynomial interpolation m...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 李海虹林贞国杜娟
Owner TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
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