Six-freedom-degree robot track planning method giving consideration to tail end motion error

Abstract

The invention discloses a six-freedom-degree robot track planning method giving consideration to a tail end motion error, and more specifically proposes a method for carrying out the precise planning of the continuous track of the tail end of the robot through combining the spinor theory, a cubic spline interpolation algorithm and a particle swarm optimization algorithm. The method comprises the steps: building forwarding and reverse kinematic models of the robot based on the spinor theory, and simplifying the calculation process; employing cubic spline interpolation in a joint space, thereby guaranteeing the smooth motion; finally taking the number of key points as a variable, controlling a tail end tracking error within a required range, taking each time interval as a design variable, taking the maximum angular speed, the angular deceleration and angular jerk of all joints as the constraint conditions, and taking the minimization of a tracking error as an optimization target for the optimization of the track, thereby obtaining the planned track which is high in planning efficiency, is small in tracking error and is smooth in motion.

Description

technical field [0001] The invention relates to a six-degree-of-freedom robot trajectory planning method considering motion error, belongs to the research field of robot motion control, and in particular relates to planning the continuous trajectory of the robot end by combining screw theory, cubic spline interpolation algorithm and particle swarm optimization algorithm , and then achieve the research purpose of meeting the tracking accuracy requirements, improving the planning efficiency and obtaining a smooth motion trajectory. Background technique [0002] As the basis of robot control research, trajectory planning has an important impact on the comprehensive motion performance of the robot. According to the planning space, the planning method generally includes joint space planning and operation space planning. The joint space planning method refers to the direct interpolation planning of the joint variables, and finally the change curve of the joint variables with time...

AI Technical Summary

Problems solved by technology

In this type of method, the planning trajectory can only guarantee the position accuracy at the key path point, and the tracking error of the continuous trajectory caused by joint interpolation is still uncontrollable

[0003] In trajectory planning, the more the number of key path points at the end, the better the tracking accuracy can be guaranteed, but the more path points, the smaller the distance between the joint angle positions, which is difficult to reflect the real role of the interpolation algorithm in smoothing the trajectory, and The more times of inverse solutions, the more complicated the calculation of trajectory planning, thus reducing the planning efficiency

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