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A robot trajectory planning method, device, storage medium and robot

A trajectory planning and robot technology, applied in the field of control, can solve the problems of servo drive alarm, robot running and flying, etc., and achieve the effect of no acceleration change

Active Publication Date: 2022-07-15
GREE ELECTRIC APPLIANCES INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The main purpose of the present invention is to overcome the defects of the above-mentioned prior art, and provide a robot trajectory planning method, device, storage medium and robot to solve the problem of servo drive alarm, Problems with robots running and flying

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  • A robot trajectory planning method, device, storage medium and robot
  • A robot trajectory planning method, device, storage medium and robot
  • A robot trajectory planning method, device, storage medium and robot

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Embodiment Construction

[0037] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0038] It should be noted that the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used may be interchanged under appropriate circumstances such that...

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Abstract

The present invention provides a robot trajectory planning method, device, storage medium and robot. The method includes: performing program analysis on a program to be run by the robot to obtain preset motion parameters; The speed look-ahead is to obtain the maximum runnable linear speed of the robot running the program; when the robot runs the program, the robot is controlled to run at the maximum runnable path linear speed. The solution provided by the present invention can avoid phenomena such as servo driver alarm, robot "running and flying" and the like.

Description

technical field [0001] The invention relates to the field of control, in particular to a robot trajectory planning method, device, storage medium and robot. Background technique [0002] In order to meet the user-specified path requirements, industrial robots need to perform trajectory planning in Cartesian space. When planning the trajectory of an industrial robot in Cartesian space, the maximum running speed of different Cartesian paths is different. When the industrial robot directly adopts the path speed set by the user, the servo driver alarm and the robot "running and flying" may occur. SUMMARY OF THE INVENTION [0003] The main purpose of the present invention is to overcome the above-mentioned defects of the prior art, and provide a robot trajectory planning method, device, storage medium and robot, so as to solve the problem that the industrial robot directly adopts the path speed set by the user in the prior art and may cause the servo driver to alarm, Problems ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 雷俊松王长恺胡飞鹏刘旭柏倩应坤
Owner GREE ELECTRIC APPLIANCES INC