Industrial robot track planning vertical speed control method based on trigonometric function

Abstract

The invention provides an industrial robot track planning vertical speed control method based on a trigonometric function. The method comprises the steps of presetting a model based on position, speed, acceleration and jerk of the trigonometric function, and presetting positions and speed parameters of two anticipated points at a starting point and an ending point of a track planning curve; then, substituting the parameters of a boundary condition into the established model, generating an equation set and computing the parameter of the model; then, limiting the vertical speed control curve according to the positions and the speed parameters of the two anticipated points at the starting point and the ending point of the track planning curve and the acceleration and the jerk; and finally determining the anticipated planning track. The industrial robot track planning vertical speed control method can be used for generating the smooth and continuous curve and easily realizes tracking for the anticipated track. Furthermore the industrial robot track planning vertical speed control method is suitable for track planning of the industrial robot.

Description

technical field [0001] The invention relates to a control method for trajectory planning and speed reduction of industrial robots based on trigonometric functions, and belongs to the field of robot trajectory planning. Background technique [0002] Modern manufacturing has higher and higher requirements for robot performance, and robot trajectory planning algorithms play an important role in robot control, directly affecting the performance and efficiency of robot end effectors in the processing process. [0003] Usually, the expected trajectory of the robot is given a series of Cartesian or joint space points in advance, and the speed passing through the points or the time between two points is given, and the maximum speed allowed by the robot movement is also limited. The purpose of trajectory planning is to establish a smooth trajectory through these points according to these constraints. In order to shorten the motion path, it is usually planned that these points are co...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the existing robot trajectory using trapezoidal acceleration and deceleration and S-shaped curve deceleration to fit the linear segment trajectory method that there is a sudden change in acceleration, and the speed change has a greater impact on the joints, so that the driving torque and driving torque The sudden increase of the first order derivative leads to the problem that the trajectory is not easy to track. A trigonometric function-based trajectory planning and speed control method for industrial robots is provided.

Images