Trajectory planning method based on numerical filtering

Abstract

The invention relates to a trajectory planning method based on numerical filtering. The method comprises the following steps: S1, giving a path constraint condition; s2, calculating the maximum step length, and setting a filter order f and an auxiliary point Cn; s3, constructing a discrete point sequence; s4, performing low-pass filtering calculation on the discrete point sequence to obtain a smooth track; s5, calculating the deviation between the filtered trajectory and a given control point constraint condition, and adjusting the constructed discrete point sequence according to the deviation; s6, judging whether the error is in an allowable range or not, if so, entering S7, and if not, repeating S3-S5; and S7, judging whether a maximum acceleration constraint condition is met or not, if so, outputting a trajectory planning structure, and if not, repeating the steps S3-S7. According to the trajectory planning method, a function fitting calculation process is bypassed, and the displacement, the speed and the acceleration of the trajectory reach high-order smoothness through low-pass filtering calculation directly from the perspective of numerical calculation; and the method is suitable for multi-control-motor linkage or single-control-motor trajectory tracking control working conditions of numerical control machine tools, industrial robots, mobile robots and the like.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a trajectory planning method. Background technique [0002] In fields such as industrial robots and data machine tools that require linkage control of multiple motors, it is necessary to plan and calculate the motion trajectory of its control terminal. Usually the motion planning here can be divided into two levels: path planning and trajectory planning. The purpose of path planning is to determine a collision-free spatial geometric path for industrial robot terminals or mobile robots that meets the work requirements. The task of trajectory planning is to determine a set of position and attitude discrete sequences with respect to time when moving along the geometric path. The result of trajectory planning will be used as the control target curve of the robot execution motor after proper conversion calculation. Trajectory planning needs to consider some constraints in...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a trajectory planning method based on numerical filtering for solving complex problems with high-order fitting functions. The filter calculation makes the displacement, velocity and acceleration of the trajectory achieve a higher order smoothness, the calculation process is simple and can be applied to the situation where the control points have motion constraints

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