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Robot trajectory planning method and device and robot

A trajectory planning and robot technology, applied in the field of robots, can solve the problems of lack of motion accuracy and smoothness of robots, and achieve the effect of improving motion accuracy and smoothness and simplifying algorithms

Inactive Publication Date: 2021-03-19
WUYI UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

However, the current robot trajectory planning method makes the robot lack of motion accuracy and smoothness

Method used

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  • Robot trajectory planning method and device and robot
  • Robot trajectory planning method and device and robot
  • Robot trajectory planning method and device and robot

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Embodiment Construction

[0051] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0052] It should be noted that although the functional modules are divided in the system schematic diagram and the logical order is shown in the flow chart, in some cases, it can be executed in a different order than the module division in the system or the flow chart steps shown or described. The terms "first", "second" and the like in the specification and claims and the above drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence or sequence.

[0053] The invention provides a robot trajectory planning method, device, robot and computer-readabl...

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Abstract

The invention discloses a robot trajectory planning method and device, a robot and a computer readable storage medium. The robot trajectory planning method comprises the steps that a motion path is constructed; the length of the motion path is calculated; according to the length of the motion path, reverse speed prospecting is carried out, and a first-section speed is planned; and reverse interpolation is carried out on a curve of the motion path. Firstly, the motion path is constructed, then the length of the motion path is calculated, reverse speed prospecting is conducted according to the length of the motion path, the first-section speed is planned, the initial speed of the first-section path can be obtained through the reverse speed prospecting, the maximum speed of the first-sectionpath can be obtained through the first-section planning, and then speed planning can be conducted on all paths. Afterwards, reverse interpolation is performed on the curve of the motion path so that the algorithm of robot trajectory planning can be simplified and the motion precision and smoothness of the robot can be enhanced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot trajectory planning method, device, robot and computer-readable storage medium. Background technique [0002] With the rapid development of industrial automation, industrial robots are playing an increasingly important role in modern machinery manufacturing, especially in complex and harsh operating conditions, playing an irreplaceable role, and their technical level directly reflects the The national industrial manufacturing level, the important criteria to measure the performance of industrial robots are high-speed operation and high-precision processing, and these are also very valued by the market. However, the current robot trajectory planning methods make the robot lack of motion precision and smoothness. Contents of the invention [0003] The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 梁艳阳王利姚超智吴伟周集华叶达游
Owner WUYI UNIV
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