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

A trajectory planning, time-optimized technology, applied in control/adjustment systems, instruments, two-dimensional position/channel control, etc., can solve problems such as increasing the trajectory planning calculation time, difficulty in integration, and inaccurate dynamic models.

Inactive Publication Date: 2019-09-03
SOUTH CHINA UNIV OF TECH +1
View PDF4 Cites 14 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 i...

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

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0100] The object of the present invention will be further described in detail through specific examples below, and the examples cannot be repeated here one by one, but the implementation of the present invention is not limited to the following examples.

[0101] Such as figure 1 A time-optimal trajectory planning system for robot path tracking shown, the system includes a path processing unit, a trajectory planning unit and an instruction generation unit;

[0102] Wherein, the path processing unit performs path displacement calculation processing, path function fitting processing, path differential coefficient calculation processing, and path planning point selection processing;

[0103] The trajectory planning unit is used to plan the optimal trajectory of the robot on the path displacement velocity plane, assuming that the planning points are uniformly accelerated motion, and plan through the uniformly accelerated motion equation;

[0104] The instruction generation unit i...

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 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...

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): G05D1/02
CPCG05D1/0223
Inventor 李琳肖佳栋张铁邹焱飚
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