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Robot curve path generation method, system and device and storage medium

A path generation and robot technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve problems such as consuming a lot of time, difficult to unify the form, and not meeting the requirements of smooth motion of robots, etc., to achieve a highly reusable effect

Active Publication Date: 2020-04-03
GUANGZHOU MECHANICAL ENG RES INST +1
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Problems solved by technology

The traditional free curve fitting mostly fits all known points at one time, so as to ensure the continuity of the curve. This method is suitable for the situation where the number of known points is determined, and when the number of known data points is large, the one-time fitting All points will consume a lot of time, which is not conducive to the application of real-time robot control system
On the other hand, it is difficult to form a unified form of speed planning and interpolation planning after fitting all known points at one time, because there are extreme points of curvature in the spline curve. If the curve segmentation is not considered, the There will be obvious motion jitter when interpolating data points, which does not meet the requirements for smooth motion of the robot

Method used

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  • Robot curve path generation method, system and device and storage medium
  • Robot curve path generation method, system and device and storage medium

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specific Embodiment

[0090] The following combination Figure 2-Figure 10 A detailed explanation of the above method:

[0091] refer to figure 2 and Figure 10 , a method for generating a robot curve path, comprising the following steps:

[0092] S1: collect no less than three free curve space data points, every three consecutive points of the space data points are not collinear, adjacent points are not the focus, and the data points are three-dimensional space coordinates (X, Y, Z );

[0093] S2: Mark all collected data points in positive order of 1, 2, 3, ..., n;

[0094] S3: Divide the data points into n-2 sections of paths according to the order of 1-2-3, 2-3-4, 3-4-5, ..., n-2-n-1-n, and each path is three A cubic B-spline curve with a parabolic boundary determined by the data points;

[0095] S4: When the number of data points is n, the mosaic planning needs to be executed n-3 times, including steps S2-S9:

[0096] S5: In the first splicing, spline curves whose data points are 1-2-3 ...

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Abstract

The invention discloses a robot curve path generation method, system and device and a storage medium. The robot curve path generation method comprises the following steps that data points are acquired, and the data points are subjected to sequential marking; two data point groups are acquired according to the marked sequence; after the two data point groups are subjected to curve fitting, and twocurves are obtained; after the obtained two curves are spliced according to a preset mode, and a splicing curve is obtained; the next group of data points are acquired according to the marked sequence, a new curve is obtained after the next group of data points are subjected to curve fitting, and the return operation is carried out to execute the step S4, until all the data points are fitted, anda curve path of a robot is obtained. According to the robot curve path generation method, system and device and the storage medium, the data points are divided into multiple segments, then the multi-segment curves are spliced in sequence, so that the curve path of the smoother robot is obtained, the robot curve path generation method, system and device and the storage medium are suitable for freecurve planning with known undetermined number of points or large number of points, the robot curve path generation method, system and device and the storage medium has the advantages of being highly reusable, and the robot curve path generation method, system and device and the storage medium can be widely applied to the technical field of robot motion planning and control.

Description

technical field [0001] The invention relates to the technical field of robot motion planning and control, in particular to a method, system, device and storage medium for generating a robot curve path. Background technique [0002] Reasonable path planning is conducive to improving the stability and high speed of the robot movement. Due to its high flexibility, free-curve motion is widely used in irregular surfaces. The traditional free curve fitting mostly fits all known points at one time, so as to ensure the continuity of the curve. This method is suitable for the situation where the number of known points is determined, and when the number of known data points is large, the one-time fitting All points will consume a lot of time, which is not conducive to the application in real-time robot control system. On the other hand, it is difficult to form a unified form of speed planning and interpolation planning after the fitting is completed by the method of fitting all know...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 倪晓伟祝润泽黄昕
Owner GUANGZHOU MECHANICAL ENG RES INST
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