Speed planning method

Abstract

The invention relates to the technical field of robot control, and discloses a speed planning method. The speed planning method comprises the following steps: the S speed planning is performed for all shafts of a multi-shaft mechanism according to a first restraint condition, wherein the first restraint condition includes a motion path, speeds of a starting point and an ending point, accelerations of the starting point and the ending point, an operation speed, a maximum operation speed, a maximum acceleration and a maximum accelerated acceleration; the shaft with the longest time is selected from the planning result as a reference shaft; and according to a second restraint condition, with three B splines as planning curves, the speed planning with given time is renewedly performed for the rest shafts, wherein the second restraint condition includes all restraint conditions besides the operation speed in the first restraint condition, and total operation time of the reference shaft. The method can be used for synchronizing all joint shafts of a robot, also can be used for synchronizing positions and gestures, can solve the synchronizing problem with starting and ending speeds not as zero, and is lower in calculated amount and higher in timeliness.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a speed planning method. Background technique [0002] Robots are multi-axis mechanisms. When performing a task, the axes of the robot often need to be synchronized, that is, to reach the end point at the same time. In order to achieve synchronization, speed planning is often performed on all axes according to their respective characteristics and system requirements, and then the one with the longest time is selected as the reference axis, and other axes are synchronized according to the reference axis. There are two common methods for robot synchronization: (1) synchronization method based on displacement ratio, (2) S-shaped velocity planning method at a given time. [0003] In the process of realizing the present invention, the inventor found that there are at least the following problems in the prior art: the synchronization method based on the displacement ratio can o...

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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a speed planning method, which can be used for the synchronization between the joint axes of the robot, and can also be used for the synchronization between the position and the posture, and can solve the problem that the initial and final speeds are not zero during the synchronization process. problem, and the amount of calculation is small and the real-time performance is high

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