Motion trail planning method and device for mechanical arm and robot

Abstract

The invention discloses a motion trail planning method for a mechanical arm. The motion trail planning method comprises the steps that the mechanical arm is controlled to move with a preset motion trail according to preset starting point coordinates and end point coordinates and a speed curve algorithm; after a stop instruction sent by a user is received, the current motion time of the mechanical arm is obtained, and the current motion stage of the mechanical arm is determined according to the current motion time and the time duration configured for each motion stage; and according to the current motion stage of the mechanical arm, the preset time duration of the motion stages and preset initial parameters in an initial parameter set are changed, the changed motion trail is generated, and the mechanical arm is controlled to move with the changed motion trail. The invention further provides a motion trail planning device for the mechanical arm and the robot. After the stop instruction of the user is received, the motion trail is replanned, so that the motion arm is stopped as fast as possible on the premise of keeping stable motion and speed continuity.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method, device and robot for motion track planning of a mechanical arm. Background technique [0002] During the working process of the manipulator, it is necessary to plan the trajectory of the manipulator. Generally speaking, this trajectory planning is realized through a predetermined speed planning algorithm. For example, the S-type (Double S) speed curve algorithm can be used To complete the trajectory planning of the robot arm. [0003] Some speed planning algorithms need to receive the start and end positions provided by the user in advance when performing trajectory planning, and then the program will generate a series of interpolation points between the two points to describe the trajectory of the robot arm. For example, in the teaching function, the user sends instructions through the handheld device, so that the robotic arm starts from the starting point and moves in a ...

AI Technical Summary

Problems solved by technology

[0004] However, most of the time, the position of the end point is determined by the user in real time according to the actual situation, so the user cannot give a specific end point coordinates at the beginning of the movement. It is impossible to plan the movement trajectory in advance during the working process, which affects the user experience

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