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Impact constrained robot obstacle avoidance and time optimal trajectory planning method

A trajectory planning and time-optimized technology, applied in the direction of instruments, two-dimensional position/channel control, non-electric variable control, etc., can solve problems such as difficult trajectory, many factors, and complexity, so as to prolong the service life and improve work efficiency , the effects of good reference and application value

Active Publication Date: 2022-01-04
CHANGCHUN UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Due to the many and complex factors considered in trajectory planning, it is difficult to obtain a more reasonable trajectory manually.

Method used

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  • Impact constrained robot obstacle avoidance and time optimal trajectory planning method
  • Impact constrained robot obstacle avoidance and time optimal trajectory planning method
  • Impact constrained robot obstacle avoidance and time optimal trajectory planning method

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Embodiment Construction

[0056] The present invention will be further described in detail below in conjunction with the accompanying drawings. A robot obstacle avoidance and time optimal trajectory planning method of impact constraints in the present invention includes a path planning module, a spline interpolation module, an obstacle avoidance processing module and a time optimal trajectory planning module. parts.

[0057] The path planning module introduces the idea of ​​target bias and target preference expansion to solve the problem of large amount of computation when the RRT* algorithm expands nodes, and the newly generated node q new It has strong randomness. Although it can be asymptotically optimized, the blind expansion strategy leads to waste of computing resources and greatly affects the convergence speed. The goal bias expansion idea is to add the target node q goal Component in direction, new node q new to q goal and q rand The vector direction of , the target preference idea is to di...

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Abstract

The invention relates to an industrial robot trajectory planning method, and especially relates to an impact constrained robot obstacle avoidance and time optimal trajectory planning method. The trajectory planning system can autonomously plan a smooth trajectory meeting speed, acceleration and jerk limitation in an off-line mode under the condition that limited parameters are input. The system mainly comprises a path planning module, a spline interpolation module, an obstacle avoidance processing module and a time optimization trajectory planning module. The path planning module introduces target bias and target preference thoughts in an obstacle repulsion field, the spline interpolation module performs interpolation smoothing on path key nodes by adopting a quintic spline interpolation function, and the obstacle avoidance processing module performs collision avoidance processing on an industrial robot and an obstacle by utilizing a geometric fine detection method. A robot connecting rod and a welding gun are enveloped by using a capsule body, an obstacle is enveloped by using a sphere, and a time optimization track module combines a grade system and a greedy strategy with a traditional whale optimization algorithm, so that the global search capability of the algorithm is improved.

Description

technical field [0001] The invention belongs to the field of trajectory planning of industrial robots, and more specifically relates to an impact-constrained robot obstacle avoidance and time-optimized trajectory planning method. Background technique [0002] Industrial robots are machine devices that are organically combined with machinery, electronics and computers to realize various industrial processing and manufacturing functions, and are widely used in various industrial fields such as flexible production lines and automated factories. In the industrial field, it is only necessary to give the industrial robot the starting and ending points of the movement, and the robot can complete the corresponding action after passing through several operating points. To move quickly under the premise of the target, it is necessary to plan the trajectory of the robot's movement process. [0003] The trajectory of an industrial robot directly affects its energy consumption and worki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 张邦成赵航李也高智柳虹亮杨磊付昕亮常笑鹏邵昱博夏奇张帆
Owner CHANGCHUN UNIV OF TECH
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