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Track planning method, track planning device, equipment and storage medium

A trajectory planning and trajectory technology, applied in the field of robotics, can solve the problems of reducer vibration, uneven trajectory transition, and wear, and achieve the effects of reducing wear on the reducer, reducing vibration, and avoiding vibration and wear of the reducer

Active Publication Date: 2020-07-10
GUANGZHOU SHIYUAN ELECTRONICS CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides a trajectory planning method, trajectory planning device, equipment and storage medium to solve the problem that the trajectory transition is not smooth in the existing robot trajectory calculation method, which causes large vibration and wear to the reducer

Method used

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  • Track planning method, track planning device, equipment and storage medium
  • Track planning method, track planning device, equipment and storage medium
  • Track planning method, track planning device, equipment and storage medium

Examples

Experimental program
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Embodiment 1

[0035] figure 1 It is a flow chart of a trajectory planning method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of planning the motion trajectory of robot joints in space. The trajectory planning method provided in this embodiment can be executed by the trajectory planning device provided in the embodiment of the present invention, and the device can be realized by means of software and / or hardware, and integrated into a device. Specifically, refer to figure 1 , the trajectory planning method of the embodiment of the present invention may include the following steps:

[0036] S101. Determine whether there is a next to-be-planned trajectory connected to the current to-be-planned trajectory.

[0037] In the embodiment of the present invention, the robot may be a general-purpose serial 6-axis robot, a robot with few degrees of freedom, a redundant robot, etc. The trajectory that the robot joints will run in space is the traje...

Embodiment 2

[0051] Figure 3A It is a flowchart of a trajectory planning method provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of Embodiment 1. Specifically, refer to Figure 3A , the trajectory planning method of the embodiment of the present invention may include the following steps:

[0052] S301. Determine whether to enable the trajectory smoothing mode.

[0053] In the embodiment of the present invention, the smoothing mode may be a mode in which two adjacent trajectories are smoothly connected during the process of planning trajectory points. In practical applications, an option of whether to enable the trajectory smoothing mode may be provided on the interactive interface. When the user selects trajectory smoothing After the mode is activated, the smooth mode is enabled to plan the trajectory, and S303-S311 is executed; otherwise, S302 is executed.

[0054] S302. According to the preset speed curve and the preset speed constraint para...

Embodiment 3

[0148] Figure 5 A schematic structural diagram of a trajectory planning device provided in Embodiment 3 of the present invention, specifically, as Figure 5 As shown, the trajectory planning device in the embodiment of the present invention may include:

[0149] The next trajectory judging module 501 is used to judge whether there is a next trajectory to be planned connected with the current trajectory to be planned;

[0150] Transition area determination module 502, for determining the transition area between the current trajectory to be planned and the next trajectory to be planned;

[0151] The initial trajectory planning module 503 in the transition area, configured to plan a plurality of first trajectory points of the current trajectory to be planned in the transition area after planning the multiple first trajectory points before the transition area. Two trajectory points and a plurality of third trajectory points in the transition region of the next trajectory to be ...

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Abstract

The embodiment of the invention discloses a track planning method and device, equipment and a storage medium. The track planning method comprises the following steps of judging whether a next track tobe planned connected with a current track to be planned exits or not; if yes, determining a transition area between the next track to be planned and the current track to be planned; planning out multiple second track points of the current track to be planned in the transition area and multiple third track points of the next track to be planned in the transition area; and adopting the second trackpoints and the third track points to determine multiple third track points of the transition area as track points for transition of the current track to be planned to the next track to be planned. The track points of the current track to be planned in the transition area and the track points of the next track to be planned in the transition area are adopted to determine final track points of thetransition area, the current track to be planned can be smoothly in transition to the next track to be planned, speed reducer vibration and wear problems caused by unsmooth track transition can be avoided, and vibration to a robot and wear to a speed reducer can be greatly reduced.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robots, and in particular to a trajectory planning method, a trajectory planning device, equipment and a storage medium. Background technique [0002] With the development of industrial robot technology, industrial robots have been widely used in many fields, and are playing an increasingly prominent role in the development of modern industrial automation and intelligence. The core technology of the joint space trajectory planning is especially important for high-speed and high-precision scenes. [0003] At present, there are mainly two types of trajectory planning in joint space: one is point-to-point trajectory planning, that is, after a trajectory ends, the robot stops and then moves to the next point. The point-to-point trajectory planning method requires the robot to Constantly starting and stopping reduces the working efficiency of the robot, and the robot needs to start a...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1602
Inventor 王世超
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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