Time-optimal trajectory planning system and method for robot path tracking

Abstract

The invention discloses a time-optimal trajectory planning system and method for robot path tracking. The system comprises a path processing unit, a trajectory planning unit and an instruction generating unit. The path processing unit performs path displacement calculation processing, path function fitting processing, path differential coefficient calculation processing and path planning point selection processing. The trajectory planning unit is used for planning an optimal trajectory. The instruction generating unit is used for generating a control instruction and the like. Besides, the method comprises the following steps: S1, carrying out path displacement calculation processing; S2, acquiring a path function; S3, carrying out path differential coefficient calculation processing; S4, selecting a path planning point; S5, calculating a path boundary speed and acceleration of the planning point; S6, planning a time-optimal trajectory; S7, acquiring each control period path displacement; S8, acquiring angular displacement of each axis at each moment; and S9, converting the angular displacement of each axis into a control command pulse signal and the like. Therefore, the path tracking time and computation time of trajectory planning are shortened.

Description

technical field [0001] The invention relates to the technical field of robot automatic control, in particular to a time-optimal trajectory planning system and method for robot path tracking. Background technique [0002] When using robots for handling, assembly, machining and other tasks, when using robots for task path tracking, in order to improve the working efficiency of robots, the robots should be run at high speeds. . The traditional S-type speed planning cannot give full play to the performance of the motor. In order to make the robot work at the maximum allowable speed all the time, the trajectory planning method that makes the robot move under critical conditions is called the time-optimal trajectory planning method. [0003] Since the 1980s, the time-optimal control method has been proposed in many papers and is well known. Among them, the most widely used numerical integration method is difficult to integrate in the face of complex dynamic model calculations, e...

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Problems solved by technology

[0003] Since the 1980s, the time-optimal control method has been proposed in many papers and is well known. Among them, the most widely used numerical integration method is difficult to integrate in the face of complex dynamic model calculations, especially nonlinear dynamic models, resulting in It can only be applied to the simple dynamic model, which leads to the inaccuracy of the dynamic model

At the same time, each control cycle of numerical integration needs to be planned by solving dynamic and kinematic constraints, which greatly increases the calculation time of trajectory planning.

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