A quintic polynomial planning method for industrial robot trajectory

Abstract

Disclosed is a quintic polynomial trajectory planning method for an industrial robot. The method fits, according to start-end displacement, velocity and acceleration information of a trajectory, interpolation time of quintic polynomial trajectory planning using a velocity trend of s-curve trajectory planning, thereby further determining a quintic polynomial trajectory planning model. The proposed quintic polynomial planning method of the present invention determines a planning model based on the velocity running trend of the s-curve trajectory planning. The method can solve the problem in which quintic polynomial curve shapes are not fixed and are prone to twisting, thereby ensuring that velocity change during a planning process is monotonic and that no substantial convexity or reverse conditions occur, and ensuring that the planned trajectory can meet inherent motion parameter limits of the robot at all times from a start point to an end point of the trajectory. In addition, compared to commonly used trapezoidal planning and s-curve planning, the model planning curve is smoother and the trajectory running process is steadier.

Description

technical field [0001] The invention relates to a trajectory planning method for an industrial robot, in particular to a quintic polynomial planning method for the trajectory of an industrial robot. Background technique [0002] Trajectory planning is the basis of robotics applications. Robot trajectory planning is to plan the path, velocity, acceleration and jerk of the end of the robot or each joint between the starting point and the ending point. Robot trajectory planning is carried out in two spaces: joint space and Cartesian space, but no matter which space is used for trajectory planning, it is necessary to ensure that the planned trajectory is continuous and smooth, and meets the inherent motion parameters of the robot. Smooth movement of the robot. [0003] According to literature research, the current common industrial robot trajectory planning includes trapezoidal planning, S-shaped planning and polynomial planning, and the most common polynomial planning is quin...

AI Technical Summary

Problems solved by technology

[0006] The present invention proposes a quintic polynomial trajectory planning method for an industrial robot. The purpose is to solve the problem that the planned curve will exceed the limit of the robot's own motion parameters due to the unfixed shape of the quintic polynomial curve, so as to ensure the planned trajectory. Displacement, velocity, and acceleration at each moment are continuous, the curve is smooth, and it meets the inherent motion parameter limitations of the robot

Images