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A multi-axis synchronous trajectory planning method, system and computer-readable storage medium

A trajectory planning, multi-axis synchronization technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unstable operation, unstable force, unstable acceleration, etc., to achieve short movement time, displacement and speed synchronization, The effect of increasing the stability

Active Publication Date: 2020-06-30
TSINGHUA UNIV
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Problems solved by technology

For variable acceleration motion, according to Newton's second law, the acceleration is not constant, the force is not constant, and the operation is not stable

Method used

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  • A multi-axis synchronous trajectory planning method, system and computer-readable storage medium
  • A multi-axis synchronous trajectory planning method, system and computer-readable storage medium
  • A multi-axis synchronous trajectory planning method, system and computer-readable storage medium

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Embodiment Construction

[0050] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0051] Such as figure 1 As shown, the present invention provides a multi-axis synchronous trajectory planning method 100, comprising the following steps:

[0052] Step 110, set the coordinates of two points in space and the magnitude and direction of the speed at the two points, the two points in space are respectively the starting point and the end point, and ask for the initial speed of the starting point of each coord...

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Abstract

The invention discloses a multi-axis synchronous track planning method and system and a computer readable storage medium. The method comprises the steps that according to the initial and final speedsand displacements of all coordinate axes, the single axis planning is conducted on all the coordinate axes, the required time of meeting the initial and final speeds and the displacements is calculated, and the longest time is taken as the reference time to conduct synchronous planning on other axes; if the synchronization conducted on some axis fails, replanning is conducted on the axis; if the synchronization conducted on some axis succeeds, the axis which requires the longest time is subjected to the single axis planning, and synchronous planning is conducted on other axes. In the process of resynchronizing other axes, if the synchronization conducted on some axis still fails, the last step is repeated until the synchronization is conducted on all the axes successfully. By the means ofthe method, it is achieved that the displacement and the speed are synchronous, and the constant accelerated speed is utilized for accelerating or reducing the final speed in a fastest mode to make the speed meet the requirements, it is ensured that the motion time is short as far as possible, and the stability in the motion process is improved.

Description

technical field [0001] The present invention relates to the field of robot trajectory planning, in particular to a multi-axis synchronous trajectory planning method, system and computer-readable storage medium for industrial robots. Background technique [0002] At present, industrial robots are widely used in handling, spraying, welding, assembly and other fields. Trajectory planning has always been one of the hot research topics in the field of robotics. Efficient, smooth, and low-impact trajectory planning methods are the goals that people are pursuing. The robot is often divided into several axes for separate feed. The actual motion trajectory is the combined motion of several axes. In the trajectory planning process, it must be ensured that each axis reaches the specified position at the same time. For variable acceleration motion, according to Newton's second law, the acceleration is not constant, the force is not constant, and the operation is not stable. At the sam...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664
Inventor 肖曦王伟华
Owner TSINGHUA UNIV
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