Robot space trajectory interpolation method and robot

Abstract

The invention discloses a robot space trajectory interpolation method and a robot. The robot space trajectory interpolation method is applied to acquisition of a planned path of the robot. The robot space trajectory interpolation method comprises the following steps that the interval of a target action range of the robot is obtained; a plurality of sampling points are acquired in the interval to form a point set, and the axis position, which each sampling point is corresponding to, of the robot is acquired to form an axis position set; a spline curve S (x) is obtained through fitting accordingto the point set and the axis position set; and interpolation is performed according to the spline curve S (x) so as to acquire the planned path of the robot. According to the robot space trajectoryinterpolation method, only few sampling points need to be selected in the using process, the calculation process is simplified, and the required precision requirement can be met; and in the interpolation process, the interpolation points can be substituted into the spline curve S (x) to calculate and obtain the corresponding axis positions, the planned path of the robot can be obtained according to the spline curve S (x), and the control process of robot motion is simplified.

Description

Technical field[0001]The invention relates to the technical field of Cartesian space robot motion trajectory calculation, and more specifically, to a robot space trajectory interpolation method. In addition, the present invention also relates to a robot for implementing the above-mentioned robot space trajectory interpolation method.Background technique[0002]The existing industrial robot motion control includes Cartesian space and axis space. The axis space means that all axes start and stop at the same time. The Cartesian space trajectory not only specifies the beginning and end points but also the movement mode.[0003]In the process of determining the trajectory in Cartesian space, first calculate a straight line P(s) in the specified workpiece coordinate system, then do the speed planning s(t) for the displacement of the straight line, and then perform interpolation, and the corresponding time t needs to be calculated The position in Cartesian space is finally reversed to the axis...

AI Technical Summary

Problems solved by technology

There may be three problems in this process. One is that the calculation process is cumbersome and the calculation is complicated. Due to the strict timeliness of interpolation, if there is data starvation, the robot will be stuck; the other is that the speed planning is in Cartesian space. , there is no information about the axes during the planning process, so there may be situations where the operating capabilities of the axes cannot be satisfied during interpolation, such as overspeeding of the axes; third, there will be singularities in industrial robots with six degrees of freedom, if the Cartesian space trajectory The planning process is singular, and it cannot be known during the planning process until it is interpolated to the singular point

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