High-order continuous point-to-point motion track planning method

Abstract

The invention discloses a high-order continuous point-to-point motion trail planning method. The method is characterized by comprising the following steps of according to the characteristics of point-to-point motion, designing a smooth continuous curve S1 which comprises acceleration and partial constant-speed sections and is adjustable in change rate by utilizing a hyperbolic tangent function; the smooth continuous curve S2 comprises a part of constant-speed and speed-reducing sections and is adjustable in change rate; connecting the curves S1 and S2 at the midpoint; an S-shaped curve comprising an acceleration section, a constant speed section and a deceleration section is formed; the S-shaped curve is combined with a tracking differentiator; the speed, the acceleration and the jerk arealways bounded and can be accurately converged to a target point, the speed degree of the acceleration and deceleration stages and the maximum speed of the uniform speed stage can be adjusted according to needs, a high-order continuous point-to-point motion track is generated, and the method has the advantages of being simple and smooth in structure, controllable in impact strength, adjustable instate of each stage, wide in application range and the like.

Description

technical field [0001] The invention relates to a high-order continuous point-to-point motion trajectory planning method, which belongs to the field of automatic control. Background technique [0002] Point-to-point motion widely exists in the fields of robots, numerical control equipment, lifting machinery and so on. Using the error between the target position and the current position to perform feedback control is an algorithm commonly used in many point-to-point motion control systems. This method has defects such as large initial control amount, uncontrollable process, and large vibration and impact. Point-to-point movement requires smooth start and precise parking, and the acceleration and deceleration stages it goes through will inevitably have an impact on it. Slow running can reduce the impact, but the low efficiency is unacceptable. To solve this problem, the trajectory planning method is usually adopted. Reasonable point-to-point trajectory planning should reason...

AI Technical Summary

Problems solved by technology

Using high-degree polynomials, or using smooth functions such as sine, cosine, spline, or hyperbolic tangent at the joint points to smooth the joints of each segment can improve the smoothness and differentiable order of the trajectory, but this method Usually, the number of curve connection points is increased, which makes the expression form of the curve more complicated, and the time planning is more difficult. Moreover, these curves have many parameters, and it is difficult to adjust the start and stop according to the requirements of some controlled objects, so that the efficiency or accuracy is affected. influences

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