Method for planning smooth joint space trajectory of robot

A robot joint and space smoothing technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve real-time calculations, real-time online planning, and wide applicability

Active Publication Date: 2017-06-20
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to provide a robot joint space smooth trajectory planning method, aiming to solve the

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  • Method for planning smooth joint space trajectory of robot
  • Method for planning smooth joint space trajectory of robot
  • Method for planning smooth joint space trajectory of robot

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Embodiment Construction

[0048] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0049] Such as figure 1 As shown in , taking a six-DOF vertical joint series robot as an object, the robot joint space smooth trajectory planning is carried out according to the following steps:

[0050] A method for robot joint space smooth trajectory planning, comprising steps:

[0051] S1. Using the robot kinematics inverse solution algorithm, the mapping of the robot's Cartesian space motion trajectory to the joint space motion trajectory is realized, and the key interpolation points of the joint space are obtained;

[0052] S2. Adjust the Cartesian interpolation cycle according to the maximum speed constraints of each joint of the robot;

[0053] S3. Estimating the angular velocity and angular acceleration of the key interpolation points in the joint space by means of t...

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Abstract

The invention discloses a method for planning the smooth joint space trajectory of a robot. The method comprises the steps: first, by the inverse algorithm of robot kinematics, realizing the mapping from robot Cartesian space motion trajectory to joint space motion trajectory, and obtaining joint space key interpolation points; then, according to the maximum speed constraint of each joint of a robot, adjusting the Cartesian interpolation period; estimating the angular speed and the angular acceleration of the joint space key interpolation points with the help of cubic polynomial curves, and providing conditions for quintic spline curve fitting on the next step; finally, starting from the first joint space key interpolation point, using adjacent two joint space key interpolation points to construct quintic spline curves as the joint space motion trajectory, and then conducting joint space interpolation. The method solves the problem that the joint space motion trajectory of the robot is not smooth.

Description

technical field [0001] The invention relates to a method for planning a smooth trajectory of a serial robot, in particular to a method for planning a smooth trajectory in a joint space of a robot. Background technique [0002] Tandem robots are increasingly used in manufacturing, agriculture, entertainment and other industries. Robot motion is ultimately realized by joint motion. Unsmooth motion trajectory in joint space will cause shock and vibration of robot joints, which not only affects the quality of robot work, but also accelerates the wear and tear of parts and affects the life of the robot. [0003] At present, the research on smooth motion trajectory planning in robot joint space is mostly carried out in an offline form. It is necessary to first carry out Cartesian space trajectory planning and robot kinematics inverse solution to obtain the time-node sequence of all joint angles, and then perform curve fitting or trajectory optimization to obtain smoothness. Joint...

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Application Information

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IPC IPC(8): B25J9/16B25J9/02
CPCB25J9/023B25J9/1633B25J9/1664
Inventor 张铁罗欣邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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