Calculating method and system for relationship between robot position and planning path

Abstract

The embodiment of the invention discloses a calculating method and system for a relationship between the robot position and a planning path. The calculating method for the relationship between the robot position and the planning path comprises the steps that the current position of the robot, the panning path and a target linear segment approaching the planning path are obtained; on the target linear segment, a target coordinate point is determined, wherein the distance from the target coordinate point to the current position meets the first preset distance requirement; according to the position of the target coordinate point on the target linear segment, and a first target terminal and a second target terminal of the target linear segment, an initial coordinate point is determined in a closed interval constituted by the first target terminal and the second target terminal on the planning path; and by taking the initial coordinate point as an initial value, the distance between the current position and the planning path and the projection point of the current position on the planning path are calculated. According to the calculating method and system, the problem of projection point calculation on the real-time planning path is solved, and the real-time and high-precision requirements of robot control are met.

Description

technical field [0001] Embodiments of the present invention relate to intelligent control technology, and in particular to a method and system for calculating the relationship between a robot position and a planned path. Background technique [0002] Robot tracking refers to the method of controlling the robot to drive according to the planned path. Spline curves are commonly used in tracing to describe paths. Such as figure 1 As shown, for a given spline curve, the control system calculates the relationship between the current position of the robot and the planned path (including distance and vertical feet) in real time, and adjusts the control amount (speed, direction) to achieve the goal of tracking. [0003] In the prior art, the calculation method for the relationship between the position of the robot and the planned path includes the following steps: 1. The upper computer is responsible for route planning, and outputs the planned path to the lower computer responsibl...

AI Technical Summary

Problems solved by technology

[0004] In the process of using the Raphson-Newton method to find the minimum value, if the initial value is not good, it will lead to a long calculation time, which is difficult to meet the real-time requirements of the lower computer to control the robot's advancement; moreover, the recursive method has low calculation accuracy and cannot meet High precision requirements for robot control

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