Adjacent joint space trajectory transition method and device

A joint space and trajectory technology, which is applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of high time cost and energy consumption cost, and achieve the effect of reducing time cost and energy consumption cost, and reducing start-up and stop
CN112192575AActive Publication Date: 2021-01-08合肥哈工图南智控机器人有限公司
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
合肥哈工图南智控机器人有限公司
Publication Date
2021-01-08

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Abstract

The invention discloses an adjacent joint space trajectory transition method and device. The adjacent joint space trajectory transition method comprises the steps that time synchronization is carriedout on all shafts in an adjacent space to enable the synchronization time of the shafts to reach each position; the final speed of a current segment of a trajectory is taken as the initial speed of anext segment of the trajectory, the initial speed of the current segment of the trajectory is taken as the final speed of the previous segment of the trajectory, and trajectory planning is carried outto enable the speeds of adjacent spaces to be in smooth transition; and interpolation operation is carried out according to output data of the trajectory planning so as to enable the trajectory to becontinuous. The adjacent joint space trajectory transition method and device have the advantages that the spot speed of each intermediate process is smooth, unnecessary start and stop are reduced, and time cost and energy consumption cost are reduced.
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Description

technical field

[0001] The invention relates to the field of robot motion control, and more particularly relates to a method and device for transitioning adjacent joint space trajectories. Background technique

[0002] The movement space of the manipulator is divided into joint space and Cartesian space. At present, the movement of industrial manipulators in a single joint space and Cartesian space is very easy to realize. The main method of mixed space transition between joint space and Cartesian space is to transfer the joint space to Cartesian space through forward kinematics, and then perform trajectory transition between Cartesian space and Cartesian space instructions, such as slowing down at the intersection point to Zero processing. For the joint space planning of a universal robot, that is, PTP, each joint is often planned separately from the starting point to the ending point, and each joint can be started at the same time and reach the specified point. Such a si...

Claims

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