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Velocity look-ahead method for robot continuous motion path and robot controller

A speed-forward, robotic technology, applied in vehicle position/route/altitude control, non-electric variable control, two-dimensional position/course control and other directions

Active Publication Date: 2022-01-18
上海新时达机器人有限公司
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a speed look-ahead method for the path of continuous motion of the robot, which can solve the problem of given node speed in the continuous motion planning process of the robot, and ensure that the path of the robot in the joint space and the Cartesian space can be carried out. continuous trajectory planning

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  • Velocity look-ahead method for robot continuous motion path and robot controller
  • Velocity look-ahead method for robot continuous motion path and robot controller
  • Velocity look-ahead method for robot continuous motion path and robot controller

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Embodiment Construction

[0020] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] see Figure 7 . The speed look-ahead method of the path of robot continuous motion according to the embodiment of the present invention, comprises the following steps:

[0022] According to the constraint conditions, according to the speed-up curve whose acceleration is not zero, carry out reverse speed-up planning for each node of the robot's continuous motion path; perform reverse speed-up planning on each node of the path according to the speed-up curve whose acceleration is not zero During the planning process, if the i-th path segment and the i-1-th path segment are in different spaces, calculate the acceleration of the starting point of the i-th path segment brought about by the space conversion, and recalculate based on the acceleration The starting speed of the i-th path segment, the recalculated starting point speed of the i...

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Abstract

The invention discloses a speed look-ahead method for a path of continuous motion of a robot, which includes the steps of respectively performing reverse speed-up planning and forward speed-up planning according to a speed-up curve whose acceleration is not zero, and in the reverse speed-up planning The influence of acceleration due to velocity-space conversion is considered. The invention also provides a robot controller. The invention solves the problem of continuous trajectory planning of the robot in Cartesian space and joint space, and ensures that the node speeds of each path in the process of continuous motion planning of the robot meet the speed planning requirements.

Description

technical field [0001] The present invention relates to velocity planning techniques. Background technique [0002] The trajectory planning of the robot is one of the important components of the robot control algorithm. It is the speed planning and interpolation based on the path planning and the speed of each node have been determined. On the premise that the path planning of the robot satisfies the curvature continuity, the trajectory planning requires the robot velocity planning to satisfy the velocity and acceleration continuity. When the task of the robot has only a certain path, the speed planning from 0 to 0 can be completed without the need to look forward to the trajectory speed. However, usually a job task of a robot will contain multiple path segments. At this time, it is necessary to insert a transition path during path planning to achieve path smoothness, and then add trajectory velocity look-ahead to determine the velocity and acceleration of each path node. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 邓洪洁王效杰林俐李大新熊圆圆
Owner 上海新时达机器人有限公司
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