SCARA robot trajectory planning method, device and equipment and storage medium

Abstract

The invention discloses SCARA robot trajectory planning method, device and equipment and a storage medium. The SCARA robot trajectory planning method is applied to the motion control of each joint ofan SCARA robot, and comprises the steps of obtaining the plane position of a tail end piece of the SCARA robot between a start point and an end point; normalizing the plane position to obtain a motioncontrol parameter; and establishing a motion trajectory equation about the motion control parameter for each joint, wherein the motion trajectory equation is output to the SCARA robot to control thetrajectory of each joint of the SCARA robot. Angular displacement of each rotary joint and displacement of each movable joint are associated through a common motion control parameter, and linkage of each rotary joint and each movable joint of the SCARA robot is achieved, so that the tail end piece can move along an expected trajectory, and the accuracy of the position of the tail end piece is guaranteed.

Description

technical field [0001] The present invention relates to the technical field of robot trajectory planning, and more specifically, relates to a method, device, equipment and storage medium for trajectory planning of a SCARA robot. Background technique [0002] The SCARA robot includes three rotating joints and one moving joint. The axes of the three rotating joints are parallel to each other, and the axis is parallel to the moving direction of the moving joint. The three rotating joints are used to realize the positioning and orientation of the end piece in the plane, and the moving The joint realizes the linear movement of the end piece in the direction perpendicular to the plane. [0003] Therefore, SCARA robots are most suitable for flat positioning and vertical assembly operations, such as inserting a round needle into a matching round hole, or moving and picking objects. At this time, the three rotating joints rotate in the horizontal plane, so that the end piece moves f...

AI Technical Summary

Problems solved by technology

[0009] Obviously, neither of the above two motion methods realizes the linkage between each joint, and its essence is a point-to-point motion. For trajectory tracking motion, it can only guarantee the corresponding positional relationship of each joint at each position point on the path. , but since the path between each path point cannot be guaranteed, there is a certain degree of uncertainty, and the position accuracy of the end piece is low

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