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Motion track planning method and device, equipment and storage medium

A motion trajectory and technology to be planned, applied in the direction of program control, instrument, electrical program control, etc., to achieve the effect of smooth trajectory curve and frequent speed change

Active Publication Date: 2021-11-26
GUANGDONG TOPSTAR TECH
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Problems solved by technology

[0003] However, when the initial acceleration of the object to be planned is not zero, the traditional S-shaped planning method is not applicable. Therefore, for the case where the initial acceleration of the object to be planned is not zero, it is urgent to propose a corresponding trajectory planning method

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  • Motion track planning method and device, equipment and storage medium
  • Motion track planning method and device, equipment and storage medium

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Embodiment Construction

[0029] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be further described in detail through the following embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.

[0030] It should be noted that the execution subject of the following method embodiments may be a motion trajectory planning device, and the device may be implemented as part or all of a motion trajectory planning device through software, hardware, or a combination of software and hardware. Optionally, the motion trajectory planning device includes but is not limited to intelligent devices such as industrial automation equipment, numerical control machine tools, and robots. In the motion control process of smart equipment, when the...

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Abstract

The invention relates to a motion track planning method and device, equipment and a storage medium. The method comprises the following steps: acquiring a motion control parameter of a to-be-planned object, wherein the motion control parameters comprise an initial state and a target state of the to-be-planned object and constraint parameters required for moving from the initial state to the target state; when the initial acceleration in the initial state is not equal to zero, performing zeroing processing on the initial acceleration to obtain an initial state after zeroing processing; and performing S-shaped curve planning on the to-be-planned object according to the initial state after return-to-zero processing, the target state and the constraint parameters. According to the method, the situation that the initial acceleration is not equal to zero can be processed, so that the planned trajectory curve is smoother, the speed can be frequently changed and has certain stability, and the actual trajectory planning requirement of the to-be-planned object can be met.

Description

technical field [0001] The present application relates to the field of motion control, in particular to a motion trajectory planning method, device, equipment and storage medium. Background technique [0002] In the field of motion control, for the trajectory planning problem of the object to be planned (such as a robot), the smooth trajectory of the object to be planned is usually calculated using the ladder planning method or the S-type planning method. At present, the common trapezoidal programming method can make the planned position curve and velocity curve continuous while the acceleration curve is discontinuous, and the common S-type programming method can make the planned position curve, velocity curve and acceleration curve continuous. Therefore, the speed curve obtained by the S-type programming method is smoother than that of the ladder-type programming method. [0003] However, when the initial acceleration of the object to be planned is not zero, the traditiona...

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Application Information

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IPC IPC(8): G05B19/416
CPCG05B19/416G05B2219/34251
Inventor 魏佳静高松吴丰礼
Owner GUANGDONG TOPSTAR TECH
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