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Track planning method for intelligent robot

A technology of intelligent robot and trajectory planning, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low efficiency and poor smoothness of robot trajectory interpolation, and achieve the effect of improving efficiency and motion smoothness

Active Publication Date: 2019-12-31
CISDI ENG CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the above existing problems in the prior art, the present invention proposes a trajectory planning method for an intelligent robot, which mainly solves the problems of low interpolation efficiency and poor smoothness of robot trajectory

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  • Track planning method for intelligent robot
  • Track planning method for intelligent robot
  • Track planning method for intelligent robot

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Embodiment Construction

[0036] Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

[0037] It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic ideas of the present invention, and only the components related to the present invention are shown in the diagrams rather than the number, shape and shape of component...

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Abstract

The invention discloses a track planning method for an intelligent robot. The track planning method for the intelligent robot comprises the following steps: obtaining a movement track, and detaching the movement track to obtain a detached path; and carrying out bidirectional speed correction on the middle part of the detached path according to the movement states of the two end points of the detached path to obtain an interpolation path. The track planning method for the intelligent robot is capable of effectively increasing the track interpolation efficiency, so that an interpolation track issmoother.

Description

technical field [0001] The invention relates to the field of intelligent motion control, in particular to an intelligent robot trajectory planning method. Background technique [0002] During the movement of the robot, in some cases the trajectory is not a repeated fixed route, and may change in real time. After obtaining a certain length of motion trajectory, according to the characteristics of the trajectory points, such as high curvature points and sharp corners, the interpolation algorithm can discretize the motion trajectory into a large number of small line segments connected end to end. Currently, the speed connection processing between small line segments Divided into the following types: 1. There is no connection between tiny line segments, decelerate to zero, and restart at the next segment. This speed connection method will cause frequent acceleration and deceleration, which will reduce the interpolation efficiency, and it is easy to generate vibration during the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602Y02P90/02
Inventor 郑超越
Owner CISDI ENG CO LTD
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