A Method for Space Trajectory Transition of Robot

Abstract

The invention relates to a robot space track transition method to solve the problem of smooth track transition during the continuous linear motion of the robot. The method uses the quintic Bezier curve combined with the parameter adaptive S-shaped velocity planning algorithm, combined with the transition trajectory acceleration verification and transition velocity adaptive algorithm in the forward-looking planning stage to construct the transition trajectory of two adjacent straight lines. The transition trajectory curve obtained by the present invention is smooth, the speed of the transition trajectory is smooth, and the acceleration is continuous, which greatly improves the stability of the system motion, and can automatically adjust the transition curve uniform speed according to the specified upper limit of the acceleration at the end of the robot and the S-shaped speed planning algorithm At the same time, the robot does not need to start and stop repeatedly, which improves the working efficiency.

Description

[Technical field] [0001] The present invention belongs to the robot motion control field, particularly it relates to a continuous transition trajectory of a robot linear motion generating method. 【Background technique】 [0002] At present, relying on motion controller (card) and servo drive communications to achieve the movement of the robot or servo motor, it has become the major mainstream robot, select the motion controller manufacturers, the principle is by receiving the motion controller from the PC to the robot command, the robot parses the command, and then make the appropriate motion commands planning algorithm. Robot generally linear and circular continuous operation instructions such as a work space in the work process, wherein continuous linear movement, how to generate a smooth transition track and save transition time, improve the working efficiency has always been a difficult problem. [0003] In the prior art, the main method is to employ the major manufacturers us...

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Problems solved by technology

[0003] In the prior art, the main method used by major manufacturers is to use circular arc trajectory transition between two adjacent two straight line segments. Although the arc is tangent to the two straight lines before and after, but due to the curvature is a constant, so even if uniform motion is used in the arc transition trajectory stage, the centripetal acceleration is also a constant, but the centripetal acceleration in the straight line segment is 0, so when the arc trajectory transition is adopted, at the beginning and end of the transition trajectory , the centripetal acceleration changes from 0 to a constant that is not 0, forming an acceleration shock, causing the robot to vibrate and reducing the trajectory accuracy of the robot; Start to accelerate, although the speed is stable, when there are multiple straight-line trajectories, it will cause the robot to start and stop repeatedly, reducing the production efficiency of the robot when it is running, which is not advisable

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