Smooth transition method and device for teaching robot multi-space trajectory planning

Abstract

The invention relates to the field of robot trajectory planning, and provides a smooth transition method of multi-space trajectory planning of a teaching robot, aiming at solving the unsmooth problemin the trajectory switching process. The smooth transition method comprises the steps that a teaching program of the teaching robot is analyzed, the switching direction of the trajectory planning is judged, if the trajectory planning is that the switching direction is from cartesian space to joint space, a tail end of cartesian space trajectory planning is acquired, according to the requirements on a path and a velocity, a first posture and a first velocity at the tail end are acquired, first angular velocities of various joints are obtained by employing a jacobi matrix, and by taking an angleindicated by the first posture as a starting angle and the first angular velocities as starting velocities, joint space trajectory planning is carried out; or else, a starting point of the cartesianspace trajectory planning is acquired, a second posture at the starting point and second angular velocities of the various joints are obtained, and by taking an angle indicated by the second posture as a terminal angle and the second angular velocities as terminal velocities, the joint space trajectory planning is carried out. Smooth transition of the trajectory planning in space switching is realized.

Description

technical field [0001] The invention relates to the technical field of robot space trajectory planning, in particular to a smooth transition method and device for teaching robot multi-space trajectory planning. Background technique [0002] To complete the prescribed tasks, industrial robots need trajectory planning. Trajectory planning can be divided into two types, one is planning in joint space, and the other is planning in Cartesian space. The planning of the joint space is relatively simple, and there will be no singular configurations, but the motion trajectory of the end is not intuitive; the trajectory planning of the Cartesian space is relatively intuitive, which can satisfy the real-time control of the trajectory of the robot end, but it is easy to enter the robot during the planning process. The singular configuration of , while its kinematic inverse solution is relatively complex. [0003] At present, the teaching method is commonly used in the trajectory plann...

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Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem of low work efficiency and inability to achieve smooth transition caused by switching pauses in the path planning path switching between multiple spaces, the present invention adopts the following technical solutions to solve The above question:

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