Robot circular arc trajectory planning method based on sine curve

Abstract

The invention provides a robot circular arc trajectory planning method based on a sine curve. The method comprises the following steps that S1, three position points are selected, and poses of the position points are obtained; S2, solving is carried out to obtain a plane, a circle center coordinate and a radius of an interpolation circle passing through the three position points; S3, a circular arc coordinate system is established; S4, the current interpolation step number k and the total interpolation step number m of a circular arc trajectory are set, and the k is enabled to be equal to 0; S5, the pose component velocity of a robot end effector during the kth interpolation is calculated based on the sine curve; S6, the angular velocities of joints of a robot are calculated; S7, the angles of the joints of the robot are calculated; S8, whether the k is equal to the m or not is judged; if not, the k is endowed with the value of k+1, and the step S5 is returned and if yes, iteration isended, and planning of the circular arc trajectory is completed. The robot circular arc trajectory planning method based on the sine curve solves the problem that the joint angle change of the robot is mostly not considered when the motion trajectory of the robot is planned at present.

Description

technical field [0001] The present invention relates to the technical field of trajectory planning, and more specifically, to a sinusoidal curve-based robot arc trajectory planning method. Background technique [0002] During the movement of the robot, all joints of the robot need to move cooperatively to make the end effector of the robot reach the required state, including the spatial position and posture. However, the more joints the robot has, the more complex the motion calculations for each joint will be. In addition, the changes in the custom space trajectory parameters are more complex, resulting in the need to redo a large number of arc trajectories each time the robot moves. calculate. Therefore, at present, when planning the trajectory of the robot, most of them do not consider the change of the joint angle of the robot, and the planning effect is not good enough. [0003] In the prior art, such as the Chinese patent disclosed on May 19, 2020, a method of circul...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a robot arc trajectory planning method based on sinusoidal curves in order to overcome the technical defect that most of the robot's joint angle changes are not considered when planning the trajectory of the robot at present.

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