Global time optimal trajectory programing method of industrial robot dynamic speed regulation

Abstract

The invention provides a global time optimal trajectory programming method of industrial robot dynamic speed regulation. The global time optimal trajectory programming method comprises the steps thattrajectory points which may overrun are detected in advance by a searching mechanism based on iterative backwards of a fixed searching range, the trajectory points are divided into three classes according to the overrun conditions, corresponding algorithms are provided by a nonlinear problem segmentation linear idea, and particularly when a joint deceleration overruns, pushback and nudge of the trajectory points and a peak cut algorithm are combined to perform speed regulation. Algorithm dynamic speed regulation enables the overrunning trajectory points to meet constraint requirements, starting points of the searching range are continually issued to perform, and synchronous operation of searching detection, dynamic speed regulation and trajectory execution is ensured. By performing smoothing and limiting regulation on the velocity of movement and acceleration of a robot cartesian space and joint space synchronously, an original trajectory is guaranteed to move at a reasonable speed andin a constraint condition range; and time optimal of dynamic speed regulation is realized, smooth and efficient motion of the robot in a whole space is ensured, and the precision and operating efficiency of the robot are improved.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a global time optimal trajectory planning method for dynamic speed regulation of industrial robots. Background technique [0002] Industrial robot trajectory planning is to calculate and plan the position, speed, and acceleration information of each moment during the robot's motion process according to the requirements of the job task. Industrial robots can plan their trajectories in Cartesian space or in joint space. The main advantage of Cartesian space trajectory planning is that the space trajectory can be determined, and it can complete specific job requirements. The disadvantage is that it has a nonlinear relationship with the joint speed and acceleration in the joint space, and it is prone to singularity. The main advantage of trajectory planning in joint space is that no singularity will occur, and trajectory planning is relatively easy. The disadvantage is tha...

AI Technical Summary

Problems solved by technology

The advantage of this method is that it can detect whether the joint space exceeds the limit in advance, and stop it safely through the algorithm, but the disadvantage is that it only detects and stops safely in advance, and does not realize the dynamic speed regulation of the trajectory so that it can avoid exceeding the limit and run normally.

Images