Speed planning method
A speed planning and planning technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as low speed in the non-limited speed section, inability to adapt to variable speed constraints, and affecting the robot's running tempo. Guaranteed the effect of motion rhythm
Active Publication Date: 2020-02-07
上海新时达机器人有限公司
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Problems solved by technology
[0003] The inventor found that there are at least the following problems in the prior art: the traditional speed planning method cannot adapt to the variable speed constraints, and can only plan with the lowest speed limit, so that the speed in the non-speed limit section is too low, which affects the robot's running rhythm
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[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized. The division of the following embodiments is for the convenience of description, and should not constitute any limitation to the specific implementation of the present invention, and the various embodiments can be combined and referred to each other on the premise of no contradiction.
[0024] A first embodime...
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The embodiment of the invention relates to the technical field of robot control, and discloses a speed planning method. The speed planning method comprises the following steps of acquiring the speed constraint of corresponding points on a path according to first constraint conditions and path planning parameters, and generating speed constraint information, wherein the first constraint conditionscomprise robot joint speed constraint, acceleration constraint, jerk constraint, Jacobian matrix and derivatives of the Jacobian matrix; performing segmented speed planning on the path through the preset step length according to second constraint conditions and the speed constraint information, and acquiring a control point of the planned spline, wherein the second constraint conditions comprise total movement journey, maximum acceleration, maximum jerk and maximum deceleration; and according to the control point, generating a first speed planning result with three B spline curves as planningcurves. A robot operates as soon as possible, the performance of a robot joint motor is sufficiently exerted, and the movement tact of the robot is ensured.
Description
technical field [0001] The embodiments of the present invention relate to the technical field of robot control, in particular to a speed planning method. Background technique [0002] With the development of science and technology, industrial robots, as an automatic machine device, play a pivotal role in the field of manufacturing. Most industrial robots are multi-joint series manipulators, and the robot joint space to the operation space is a nonlinear mapping. The maximum speed that the robot can achieve in different configurations is different. But at present, when performing speed planning, there is often only one maximum speed in one segment, such as the classic 7-segment S-type speed planning. [0003] The inventors found that there are at least the following problems in the prior art: the traditional speed planning method cannot adapt to variable speed constraints, and can only plan with the lowest speed limit, so that the speed in the non-speed limit section is too ...
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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/161G05B19/416G05B19/4103G05B2219/34095
Inventor 王效杰邓洪洁张慧林俐李生郑彦秋
Owner 上海新时达机器人有限公司