Robot trajectory planning method based on Tau-E
A trajectory planning and robotics technology, applied in the field of robotics, can solve problems such as complex derivation process and complex structure, achieve high calculation efficiency, good flexibility, and reduce the amount of calculation
Active Publication Date: 2021-11-02
ZHENGZHOU UNIV
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However, the virtual guidance functions constructed in these algorithms are all functions that describe the actual physical motion, and the structure is relatively complex, which leads to a more complicated derivation process, and the final trajectory equation still has room for simplification
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[0034] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present disclosure.
[0035] It should be noted that the terms "comprising" and "having" in the description and claims of the present disclosure and the above-mentioned drawings, as well as any variations thereof, are intended to cover non-exclusive inclusion, for example, a series of steps or units are included A process, method, system, product or devic...
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The invention specifically discloses a robot trajectory planning method based on Tau-E. The robot trajectory planning method comprises the following steps: S1, constructing an exponential virtual guidance function; S2, acquiring a virtual guidance Tau equation according to a Tau theoretical formula; S3, introducing a coupling coefficient, and coupling the Tau equation of the real motion with the Tau equation of the virtual guidance; S4, solving the coupling equation, and then obtaining a TauE robot trajectory equation; and S5, solving a coupling coefficient in the TauE robot trajectory equation, and planning a robot compliant trajectory in a robot joint space or a Cartesian space according to the TauE robot trajectory equation. According to the method, the reasonable exponential type virtual guidance function is constructed, Tau theory derivation is carried out, the virtual guidance motion and the real motion are coupled to obtain the Ta-E robot trajectory equation, then the obtained Ta-E robot trajectory equation is used for achieving planning of the robot compliant trajectory, and the calculated amount is effectively reduced.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a Tau-E-based robot trajectory planning method. Background technique [0002] Robots are occupying an increasingly important position in industrial production, and prolonging the service life of robots has become an important issue. Compared with hardware improvements, algorithm improvements have the advantages of low cost, easy maintenance, and no need to replace hardware. By improving the trajectory planning algorithm of the robot, the robot can be started and stopped smoothly, and the actuators are protected, so as to achieve the purpose of prolonging the service life of the robot. [0003] Existing robot trajectory planning algorithms include cubic / quintic polynomial method, spline curve method, Bezier curve method, trapezoidal velocity method, sine acceleration and deceleration method, etc. However, the above algorithm has defects such as not being flexible enough, or compl...
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Login to View More IPC IPC(8): B25J9/16B25J9/02
CPCB25J9/1664B25J9/023
Inventor 彭金柱王智强丁帅王海静董梦超张方方刘艳红
Owner ZHENGZHOU UNIV