Cartesian space trajectory planning method and system based on real-time motion

Abstract

The invention provides a Cartesian space trajectory planning method and system based on real-time motion. The method comprises the following steps: 1, acquiring path points in a Cartesian space; 2, planning according to the number of path points in the Cartesian space, and generating a first section of trajectory planner; 3, according to the motion period, generating position information with moments through a first section track planner and issuing to the controlled object; 4, acquiring the planning time of the current trajectory planner, dividing the planning time by the motion period, rounding the planning time and multiplying the planning time by the motion period to obtain a time base, and generating a next trajectory planner if the current trajectory is not the last trajectory and the motion time is one motion period less than that of the time base; 5, when it is judged that the current trajectory is the last trajectory and the movement time is equal to the planning time of the trajectory planner, completing trajectory planning. According to the method, the arc transition constant-speed planning mode is adopted, the speed kick phenomenon of the controlled object is avoided, and the motion smoothness of the controlled object is guaranteed.

Description

technical field [0001] The present invention relates to the technical field of trajectory planning, in particular to a method and system for trajectory planning in Cartesian space based on real-time motion. Background technique [0002] In most cases, the Cartesian space trajectory planning is mainly based on a straight line path. The end of the robot arm interpolates in a straight line between different path points. When the end of the robot arm moves to a certain position, it has decelerated to zero, and then accelerates to The next position, and ensure that the deceleration is zero when moving to the next position, and then repeat the above actions. However, for the situation where there are many waypoints and the distance between adjacent waypoints is not large, this trajectory planning method has a big problem. The frequent start and stop does not make full use of the working ability of the manipulator, which reduces the working efficiency of the manipulator and serious...

AI Technical Summary

Problems solved by technology

However, for the situation where there are many waypoints and the distance between adjacent waypoints is not large, this trajectory planning method has a big problem. The frequent start and stop does not make full use of the working ability of the manipulator, which reduces the working efficiency of the manipulator and seriously affects Lifespan of the manipulator drive system

[0003] In some cases, the linear path in Cartesian space trajectory planning will add a circular arc transition, and the sum of the distance between the straight line and the circular arc will be used as the total distance of trajectory planning, and then supplemented with kinematic constraints for trajectory planning. During the arc transition, it is greatly affected by the acceleration constraint, which leads to the failure of the manipulator to reach a higher speed, which wastes the working performance of the manipulator and reduces its work efficiency.

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