Joint space continuous point track transition method and device

A technology of joint space and point trajectory, 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, continuous speed, and reducing energy cost
CN112223290AActive Publication Date: 2021-01-15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
Patent Type
Applications(China)
Current Assignee / Owner
合肥哈工图南智控机器人有限公司
Publication Date
2021-01-15

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Abstract

The invention discloses a joint space continuous point track transition method and device. The method comprises the steps that maximum speeds at a starting position, a middle position and an ending position of a joint space are acquired, and the maximum speeds are multiplied by a preset percentage to serve as an incident speed and an emergent speed of Bessel transition; if the preset percentage isnot zero, Bessel transition is performed; a starting point of the Bessel transition and an ending point of the Bessel transition are acquired; the end speed of the joint space is acquired; the end speed of the joint space is corrected until the error between an actual reachable end speed of the joint space and the end speed of the joint space is smaller than or equal to a preset value; Bessel transition time about the position is acquired by utilizing the starting position, the middle position and the ending position of the joint space according to the Bessel transition principle; and position posture time synchronization and joint space continuous point track transition are performed. The method has the advantage that the time cost and the energy consumption cost are reduced.
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Description

technical field

[0001] The invention relates to the field of motion control of robots, and more particularly relates to a method and device for the trajectory transition of continuous points in joint space. 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 joint space transition 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 reducing the speed to zero at the intersection point, and then switch the space Carry out motion again, can increase time cost and energy consumption cost greatly in actual production like this. For example, for the joint space planning of a general-purpose robot, that is, PTP, each joint is often planned separately ...

Claims

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