Trajectory planning method and device, motion equipment and computer readable storage medium

Abstract

The embodiment of the invention provides a trajectory planning method and device, motion equipment and a computer readable storage medium. The method comprises the steps that a trajectory prediction model and a vibration prediction model of the motion equipment are acquired; acquiring initial motion parameters of the motion equipment at the initial position, wherein the initial motion parameters comprise initial state quantity and initial vibration energy; obtaining a plurality of prediction speeds and a plurality of prediction positions based on the initial state quantity and a trajectory prediction model; acquiring a plurality of predicted vibration energies based on the initial vibration energy and a vibration prediction model; obtaining a target position of the motion equipment, and constructing an optimization objective function based on the target position, the plurality of prediction speeds, the plurality of prediction positions and the plurality of prediction vibration energy; and determining an optimized trajectory from the initial position to the target position based on the optimized objective function. In this way, the optimized trajectory which gives consideration to both position precision and trajectory fairing and excites small vibration can be obtained based on the optimized objective function.

Description

technical field [0001] The present application relates to the field of robotics, and in particular, to a trajectory planning method, device, motion equipment, and computer-readable storage medium. Background technique [0002] The existing schemes for vibration suppression using trajectory planning mainly include trajectory input shaping and trajectory high-order smoothing. Trajectory input shaping uses waveform cancellation in the frequency domain to suppress vibration simply and effectively, but it prolongs the overall trajectory planning time; trajectory high-order smoothing uses high-order curves to smooth the trajectory, but there are also engineering implementations. limit. The existing trajectory planning technology has the problem of trajectory planning that cannot take into account the accuracy, smoothness, and low vibration energy. SUMMARY OF THE INVENTION [0003] In order to solve the above technical problems, embodiments of the present application provide a ...

AI Technical Summary

Problems solved by technology

The input shaping of the trajectory can simply and effectively suppress the vibration by using waveform cancellation in the frequency domain, but it prolongs the overall time of trajectory planning; the high-order smoothing of the trajectory uses high-order curves to smooth the trajectory, but there are also engineering implementation limitations. limit

The existing trajectory planning technology has the problem of trajectory planning that cannot take into account accuracy, smoothness, and low vibration energy

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