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An optimal trajectory planning method, device and storage device for control compensation

A trajectory planning and trajectory technology, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of poor real-time performance and low efficiency, so as to improve real-time performance, improve trajectory tracking accuracy, and improve inverse kinematics The effect of solving for efficiency

Active Publication Date: 2022-04-08
武汉鼎元同立科技有限公司
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Problems solved by technology

However, the numerical iterative method for solving inverse kinematics problems has low efficiency and poor real-time performance.

Method used

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  • An optimal trajectory planning method, device and storage device for control compensation
  • An optimal trajectory planning method, device and storage device for control compensation
  • An optimal trajectory planning method, device and storage device for control compensation

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Embodiment Construction

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0040] Please refer to figure 1, figure 1 It is a schematic diagram of the process of the optimal trajectory planning method of the robot for control compensation in the present invention; the present invention provides an optimal trajectory planning method for control compensation, including: two processes, respectively: the trajectory planning process and the control compensation process;

[0041] The input of the trajectory planning process is the target weight and trajectory points; the output is the optimal trajectory of the robot, which is expressed as the curve of angle, angular velocity and torque with respect to time; its main function is to generate a specific optimal trajectory planning problem according to the input information of the host ...

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Abstract

The invention discloses an optimal trajectory planning method, device and storage device for control compensation. After the method generates the optimal trajectory according to the information input by the host computer, it generates The control compensation information corresponding to the optimal trajectory. The beneficial effect of the present invention is: above-mentioned process has improved the real-time property of robot control and trajectory tracking precision, simultaneously this method has added a kind of trajectory space transformation tool, has improved the inverse kinematics solution efficiency of the robot that does not satisfy Pieper criterion, further improves Real-time performance of trajectory planning.

Description

technical field [0001] The invention relates to the field of robot trajectory planning, in particular to an optimal trajectory planning method, device and storage device for control compensation. Background technique [0002] Trajectory planning is to design the speed and acceleration of each joint according to the actual requirements of the operation, so that the controlled system can reach a specific target state within a specified time. Trajectory planning can be subdivided into basic trajectory planning and optimal trajectory planning, in which basic trajectory planning only considers the kinematics characteristics of the controlled system for the reproduction of motion; optimal trajectory planning is further considered on the basis of basic trajectory planning Dynamic characteristics, transforming the trajectory planning problem into a constrained nonlinear programming problem for solving. [0003] Basic trajectory planning can be divided into Cartesian space planning ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 袁浩然史世杰张良
Owner 武汉鼎元同立科技有限公司
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