Robot motion track planning method and related device

Abstract

The scheme relates to the field of motion control and especially relates to the robot motion track planning technology. In a robot motion track planning method, feature points of a degree n cubic Bezier curve are determined according to a first CP motion track section and a second CP motion track section, and n is not less than 4 (401); the degree n cubic Bezier curve is constructed according to the above feature points and serves as a smooth transition track section between the first CP motion track section and the second CP motion track section (402). The degree n cubic Bezier curve is adopted to serve as the smooth transition track section between the two CP motion track sections, the smooth transition track section is tangent to the first CP motion track section at an initial point ofthe smooth transition track section with the same curvature, the smooth transition track section is tangent to the second CP motion track section at a termination point of the smooth transition tracksection with the same curvature, so that serial CP motion smooth transition can be realized, in addition, the speed has no need to be reduce to 0, and the acceleration does not jump.

Description

technical field [0001] The invention relates to the field of motion control, and more specifically, relates to robot motion trajectory planning technology. Background technique [0002] In the motion control of the robot, the trajectory motion of the controlled part (such as the manipulator) can be divided into CP motion (continuous operation, including linear motion and arc motion) and PTP motion (point-to-point motion). [0003] When planning the motion trajectory of the robot, it may be necessary to perform multiple CP motions continuously. Take two consecutive CP movements as an example, please refer to Figure 1a , CP motion trajectory segment 1 (also referred to as trajectory segment 1) and CP motion trajectory segment 2 (also referred to as trajectory segment 2) can be straight line segments respectively, in addition, circular arc segments and circular arc segments ( Figure 1b ), arc segment and straight line segment ( Figure 1c with Figure 1d ) continuously. ...

AI Technical Summary

Problems solved by technology

[0005] This faces another problem: still see Figure 1a , if consecutive straight line segments are not on the same straight line, there will be sharp corners

Although the vector superposition method can be used to replace sharp corners with circular arcs, it is definitely applicable only in the scene where a straight line segment is transferred from a straight line segment. Unable to find arc tangent to both trajectories

This is because the intersecting straight line segment and straight line segment in space must be coplanar, but the straight line segment and arc segment, and the arc segment and arc segment are not necessarily coplanar, and it is impossible to find out if they are not coplanar Common cut arc transfer

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