Robot trajectory planning method and device, equipment and medium

Abstract

The invention discloses a robot trajectory planning method and device, equipment and a medium. The robot trajectory planning method comprises the steps: acquiring a motion instruction corresponding to a robot, wherein the motion instruction carries the trajectory planning parameter of the robot, and the trajectory planning parameter comprises a first path planning parameter; matching a historical planning trajectory in a buffer area based on the first path planning parameter to obtain a target matching trajectory matched with the first path planning parameter, wherein the historical planning trajectory is a planning trajectory determined based on a historical motion instruction; and determining a planning trajectory corresponding to the current motion instruction based on the target matching trajectory. According to the invention, the trajectory planning efficiency of the robot can be improved, a user does not need to specify a repetitive motion instruction interval, the use complexity of the user is prevented from being improved, planning does not need to be carried out when the previous motion instruction is executed and the trajectory speed is reduced to 0 during interpolation, and the influence on the motion fluency of the robot is avoided.

Description

technical field [0001] The present application relates to the field of robot technology, in particular to a robot trajectory planning method, device, equipment and medium. Background technique [0002] In the robot control system, the efficiency of trajectory planning directly affects the ability of the robot to walk a small trajectory, such as a small line segment trajectory. Since the time consumed by trajectory planning determines the upper limit of the trajectory speed, the longer the trajectory planning time is, the more it will affect the robot beat, and if it is not handled properly, it may even cause stuttering. [0003] Generally speaking, the trajectory planning module will input trajectory planning parameters from the upper module, such as trajectory type, feature point, speed, smoothing and other parameters, and then start to do path planning and speed planning. In actual working conditions, most cases are repeated Loop action. Therefore, the existing optimizat...

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Problems solved by technology

However, this solution requires the user to specify the interval of repeated motion instructions, which increases the difficulty of the user's use. Moreover, because the motion instructions in the interval are planned once and then the trajectory is interpolated, it is necessary to wait for the execution of the motion instructions in front of the interval to complete the trajectory. Plan after the speed drops to 0, so it will destroy the smoothness of the robot's movements and reduce the beat

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