Track planning method for mechanical arm

Abstract

The invention belongs to the technical field related to robot control and discloses a track planning method for a mechanical arm. The track planning method comprises the following steps: acquiring such tail-end-related parameters, including initial pose, terminal pose, preset track, initial joint vector and terminal joint vector of the mechanical arm; choosing a series of feature points on the preset track, and marking the current feature point pose, the current feature point joint vector, the next feature point pose and the next feature point joint vector; calculating the next feature point joint vector and the current feature point joint vector, executing joint space track planning treatment and planning sub-algorithm treatment according to calculation results to acquire a more optimal track plan; and performing cyclic treatment on the rest feature points according to the processes till the tail end of the mechanical arm reaches the terminal pose. According to the track planning method, the overall calculated amount can be greatly reduced, calculation errors are reduced, and meanwhile, the track planning efficiency is remarkably improved.

Description

technical field [0001] The invention belongs to the technical field related to robot control, and more specifically relates to a trajectory planning method of a mechanical arm. Background technique [0002] Industrial robot operations mainly include two types, namely point operations and continuous path operations. Planning the trajectory of the robot before operation belongs to the top-level design in this field. As far as various trajectory planning methods of industrial robots are concerned, they can usually be implemented in joint space or Cartesian space. Among them, the calculation of the former is simple, but the trajectory of the robot end is uncontrollable, so in practice, especially when the end is required to have a clear trajectory, the latter is more and more used. [0003] However, although the implementation in the Cartesian space can make the trajectory error of the robot end smaller, the amount of calculation is often large, and the robot needs to be contr...

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Problems solved by technology

[0003] However, although the implementation in Cartesian space can make the trajectory error of the robot end smaller, the amount of calculation is often large, and the robot needs to be controlled in the speed loop and acceleration loop

More specifically, on the one hand, the calculation of this trajectory planning method is complex, and it is costly and inefficient in the planning of small manipulators; on the other hand, the speed and acceleration control of some manipulator joints has limitations There are great difficulties, such as the steering gear runs at full speed in the control cycle, stops after reaching the control position and waits for the next control cycle control command, which leads to poor effect and accuracy of Cartesian space trajectory planning

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