Online S-type acceleration-deceleration planning method with optimal time

A time-optimized, acceleration and deceleration technology, applied in electrical program control, digital control, etc., can solve problems such as inability to plan trajectory, achieve the effect of intelligent and flexible, simplified solution algorithm, and high real-time performance

Active Publication Date: 2019-07-09
TIANJIN UNIV
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Problems solved by technology

[0003] In order to overcome the inability of traditional trajectory planning method

Method used

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  • Online S-type acceleration-deceleration planning method with optimal time
  • Online S-type acceleration-deceleration planning method with optimal time
  • Online S-type acceleration-deceleration planning method with optimal time

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[0033] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific implementation examples. It should be understood that the specific implementation examples described here are only used to explain the present invention, and are not intended to limit the present invention.

[0034] The linear velocity planning method provided by the invention. Its input parameters include motion constraints, first and last motion states, and interpolation time dt. Motion constraints include maximum jerk, maximum acceleration, and maximum velocity, denoted as (J max , A max , V max ). The initial motion state includes initial acceleration, initial velocity, and initial displacement, denoted as (A s , V s , P s ). The initial motion state should satisfy the actual conditions, otherwise the motion planning may exceed the motion constraints.

[0035] The end motion state includes the target acceleration being zero, the target ...

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Abstract

The invention discloses an online S-type acceleration-deceleration planning method with optimal time. The method has a feature of realizing online real-time computation, and can plan out an interpolation trajectory satisfying a movement constraint condition according to any initial movement state and an ending state that the acceleration is equal to zero; an offline computation process is simplified, and the movement trajectory can be automatically planned in real time according to a signal returned by a sensor under an unknown environment.

Description

technical field [0001] The invention relates to the field of motion control of industrial robots, the field of speed control of servo motors, the online control of mobile robots, in particular to the speed planning method and the online S-shaped acceleration and deceleration planning method in the aspects of robot motion planning. Background technique [0002] The traditional trajectory planning method usually does not consider the initial acceleration of the initial motion state, the initial velocity is not equal to zero, because the trajectory planning is extremely difficult for the initial motion state is not equal to zero, and the calculation is complicated, which cannot meet the real-time requirements. For a high-performance robot control system, no matter what motion state the robot is currently in, the robot should respond to the input signal immediately by inputting the external sensor signal as the robot controller. Contents of the invention [0003] In order to o...

Claims

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Application Information

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IPC IPC(8): G05B19/416
CPCG05B19/416
Inventor 王国栋王铭礼白杨肖聚亮洪鹰刘海涛黄田
Owner TIANJIN UNIV
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