Speed planning method, system, control system, robot, and storage medium

A speed planning and speed technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problem of limited application range of speed planning

Inactive Publication Date: 2018-11-06
上海禾野智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a speed planning method, system, control system, robot, and storage medium for solving the problem of limited application range of speed planning in the prior art

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  • Speed planning method, system, control system, robot, and storage medium
  • Speed planning method, system, control system, robot, and storage medium
  • Speed planning method, system, control system, robot, and storage medium

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Embodiment Construction

[0065] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0066] It should be noted that the term "and" involved in this article except the logical connector "and" is only a description of the association relationship of associated objects, which means that there can be three kinds of relationships. For example, A and B can represent: A alone exists,...

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Abstract

The invention provides a speed planning method, a system, a control system, a robot, and a storage medium. The method comprises the following steps: establishing a track model according to chronological order and setting a constraint condition, wherein the track model comprises an end track, and at least one of final motion parameters corresponding to the the end track is non-zero; according to the track model, establishing a speed planning curve model; and based on the speed planning curve model and according to the constraint condition, calculating optimal motion parameters by using an optimal time as a target; obtaining a target speed planning curve based on the optimal motion parameters. According to the invention, first, speed planning can be performed on a path segment in any start or end state without being limited by start or end parameter values of the path segment; furthermore, all branch paths can be covered in an S-type acceleration and deceleration process, so that the application range is greatly broadened; and finally, according to the speed planning method provided by the invention, whether the speed is first constrained or the acceleration is first constrained doesnot need to be distinguished, thereby greatly simplifying a modeling process and helping a user to improve work efficiency.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a speed planning method, system, control system, robot, and storage medium. Background technique [0002] Nowadays, the development of the field of artificial intelligence is in full swing, and robots, as a machine device that automatically performs work tasks, are the most important branch of the field of artificial intelligence. [0003] As a movable device, the trajectory smoothness and real-time performance of the robot during the movement are important indicators to measure the performance of the robot's motion planning. Usually, in order to ensure the smooth trajectory of the robot, industrial equipment adopts S-type speed planning or high-order speed planning methods. [0004] However, the speed planning methods adopted by existing robots can only deal with the situation from zero state to zero state or from non-zero state to zero state. As we all know, more situations i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 黄纪强孙宇豪夏银龙周昱明朱浩李运东刘勇崔会东吴小平郭林鑫王晨
Owner 上海禾野智能科技有限公司
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