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A method and device for smooth transition between Cartesian space and joint space curve

A Cartesian space, smooth transition technology, applied in the field of coasters, can solve problems such as the inability of smooth transition between Cartesian space curve trajectories and joint space curve trajectories, sudden changes in speed and acceleration, etc.

Active Publication Date: 2022-06-17
SHENZHEN HUACHENG IND CONTROL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the prior art, there is no smooth transition between the Cartesian space curve trajectory and the joint space curve trajectory, and there are problems of sudden changes in speed and acceleration

Method used

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  • A method and device for smooth transition between Cartesian space and joint space curve
  • A method and device for smooth transition between Cartesian space and joint space curve
  • A method and device for smooth transition between Cartesian space and joint space curve

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Embodiment Construction

[0048] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the protection scope of the present invention can be more clearly defined.

[0049] see figure 2 As shown, this embodiment discloses a method for smooth transition between Cartesian space and joint space curves, including the following steps:

[0050] S1. Calculate the time point for starting the smooth transition according to a set smoothing level requirement.

[0051] S2. Calculate each curve and each joint position increment at each time point in the smooth transition process.

[0052] S3. According to the joint speed limit, dynamically adjust the proportional relationship between the calculation time of each curve and the output time to obtain the real output period.

[0053] S4. Output the joint in the real outpu...

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Abstract

The invention discloses a method and device for the smooth transition of Cartesian space and joint space curves. The method includes: S1. According to a set smoothing level requirement, calculate the time point for starting the smooth transition; S2. Calculate each curve and each joint position increment at each time point during the smooth transition process; S3. According to the joint speed limit, dynamically Adjust the proportional relationship between the calculation time and the output time of each curve to obtain a real output cycle; S4, output the joint output to the joint axis within the real output cycle. The invention can make a smooth transition between the Cartesian space curve trajectory and the joint space curve trajectory, without sudden changes in speed and acceleration.

Description

technical field [0001] The present invention relates to the technical field of coasters, and more particularly, to a method and device for smooth transition between a Cartesian space and a joint space curve. Background technique [0002] Joint space and Cartesian space are two different space description methods. The mathematical relationship is: the forward and inverse solution of the kinematics of the joint robot. The positive solution is the conversion of the joint space position to the Cartesian space position. joint space position. [0003] Curves such as circular arc trajectory MOVC, straight trajectory MOVL, NURBS, B-spline, Bezier, and helix are trajectory curves described in three-dimensional Cartesian space, and their calculation equations are based on the Cartesian space coordinate system. The joint space curve is the trajectory curve described in the robot joint space. [0004] In the prior art, there is no smooth transition between the Cartesian space curve tr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/1664B25J9/161
Inventor 石建军梁旺苗立晓范玉魁庞树博
Owner SHENZHEN HUACHENG IND CONTROL