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Multi-axis linkage real-time dynamic prospective track planning method and device and storage medium

A trajectory planning, real-time dynamic technology, applied in the direction of instruments, digital control, control/regulation systems, etc., can solve the problems of multi-axis linkage robot trajectory is not smooth, motion instability, etc.

Active Publication Date: 2020-10-20
WUYI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, the multi-axis linkage robot still has problems such as unsmooth motion trajectory and unstable motion.

Method used

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  • Multi-axis linkage real-time dynamic prospective track planning method and device and storage medium
  • Multi-axis linkage real-time dynamic prospective track planning method and device and storage medium
  • Multi-axis linkage real-time dynamic prospective track planning method and device and storage medium

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Embodiment Construction

[0066] This part will describe the specific embodiment of the present invention in detail, and the preferred embodiment of the present invention is shown in the accompanying drawings. Each technical feature and overall technical solution of the invention, but it should not be understood as a limitation on the protection scope of the present invention.

[0067] In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0068] I...

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Abstract

The invention discloses a multi-axis linkage real-time dynamic prospective track planning method and device, and a storage medium. The method comprises the steps of receiving input data; performing prospective track planning; receiving an input instruction; executing a real-time speed change or stop method based on look-ahead track planning according to the input instruction for re-planning; inputting interpolation points obtained by sampling tracks of a first section and a transition region into an S-shaped digital filter; and deleting data of the first section and the transition area to construct a new section, and repeating the steps. The problems of unsmooth motion trails and unstable motion of a multi-axis linkage robot are solved, so that the motion tracks of the multi-axis linkage robot are smoother, and the motion is smoother and more stable.

Description

technical field [0001] The invention relates to the field of multi-axis linkage robot control, in particular to a multi-axis linkage real-time dynamic forward-looking trajectory planning method, device and storage medium. Background technique [0002] Multi-axis linkage robots are widely used in industrial production. The forward-looking trajectory planning can plan the position, velocity and acceleration of the adjacent transition segments in the multi-segment path, so that the end axis of the robot can run according to the predetermined trajectory. An efficient forward-looking trajectory planning algorithm can enable the multi-axis linkage robot to complete the motion of the transition section at high speed and smoothly, thereby improving work efficiency. Therefore, the pros and cons of the forward-looking planning algorithm can also be regarded as an implicit indicator to measure the performance of the robot. [0003] However, the multi-axis linkage robot still has probl...

Claims

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Application Information

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IPC IPC(8): G05B19/416
CPCG05B19/416G05B2219/34169
Inventor 梁艳阳吴伟姚超智
Owner WUYI UNIV
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