Robot high-speed high-precision motion trajectory planning method and device, equipment and medium

A trajectory planning and motion trajectory technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as reducing accuracy and ignoring mutual influences

Active Publication Date: 2019-08-09
SOUTH CHINA UNIV OF TECH +1
View PDF5 Cites 24 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Previous trajectory planning studies only considered the speed or accuracy of the robot alone, ignoring the interaction between them
In the actual applicat

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot high-speed high-precision motion trajectory planning method and device, equipment and medium
  • Robot high-speed high-precision motion trajectory planning method and device, equipment and medium
  • Robot high-speed high-precision motion trajectory planning method and device, equipment and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0084] Taking a six-degree-of-freedom industrial robot as the research object, the high-speed and high-precision motion trajectory planning of the robot is carried out according to the following steps.

[0085] Such as figure 1 As shown, a trajectory planning method for high-speed and high-precision movement of a robot includes steps:

[0086] Through time-optimal trajectory planning, the motion parameters of the robot are optimized and solved in the parameter space, and the original motion trajectory expressed in the parameter space is obtained;

[0087] Analyze the vibration signal of the robot based on the flexible joint model of the robot, calculate the modal parameters, and design the corresponding input shaper;

[0088] Calculating an appropriate compensation coefficient according to the delay time of the input shaper to accelerate the original motion trajectory, thereby compensating for the trajectory delay caused by input shaping;

[0089] In the parameter space, inp...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a robot high-speed high-precision motion trajectory planning method and device, equipment and a medium. The method comprises the following steps that the motion parameters of arobot are optimized and solved in the parameter space through time optimal trajectory planning, and an original motion trajectory expressed in the parameter space is obtained; a vibration signal of the robot is analyzed, modal parameters are calculated, and an input shaper is designed; the compensation coefficient is calculated to accelerate the original motion trajectory according to the delay time of the input shaper; input shaping is performed on the accelerated new motion trajectory through the input shaper in the parameter space; the shaped parameter sequence is substituted into a robotinverse kinematics model to solve to obtain a motion trajectory of each joint of the robot, and the motion trajectory of each joint of the robot serves as the reference input of a robot controller torealize high-speed high-precision motion of the robot. According to the robot high-speed high-precision motion trajectory planning method and device, the equipment and the medium, the advantages of time optimal trajectory planning and input shaping are fully combined, the robot high-speed high-precision motion trajectory planning method and device, the equipment and the medium are applied to robottrajectory planning, and high-speed high-precision motion of the robot is realized.

Description

technical field [0001] The invention relates to the field of robot trajectory planning, in particular to a method, device, equipment and medium for robot high-speed and high-precision motion trajectory planning. Background technique [0002] In the specific application scenarios of robots, it is required that the robot can quickly and accurately complete the specified tasks, that is, the high-speed and high-precision movement of the robot, so as to meet the needs of production and life and improve its operating efficiency. [0003] The improvement of robot speed is limited by joint motors, mechanical structures and loads. Traditional trajectory planning usually sets a small acceleration limit to meet the needs of most application scenarios and cannot fully utilize its potential. The time-optimal trajectory planning can dynamically select the current acceleration limit value and optimize the motion parameters according to the current state of the robot, so as to further relea...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664
Inventor 张铁张美辉邹焱飚
Owner SOUTH CHINA UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap