Robot trajectory planning method and system and robot

Abstract

The invention discloses a robot trajectory planning method and system, and the method comprises the following steps: setting a speed look-ahead plan, carrying out the high-order continuous segmentation of a path, and correcting the path parameters of a current interpolation period through the speed look-ahead plan before the path parameters are issued to a servo; the speed look-ahead planning comprises the steps that the current speed, the acceleration, the maximum acceleration and the look-ahead maximum speed are obtained, the look-ahead distance when the robot slows down to zero in the non-uniform-speed section is calculated according to a set speed curve, and speed planning is conducted according to the look-ahead distance; and comparing the speed plan with the parameter-speed constraint curve, judging whether the speed plan has an over-limit position or not, and issuing the path parameter to the servo when the over-limit position does not exist. According to the robot trajectory planning method and system, the speed limiting curve is fully utilized, the whole path planning is completed at a high speed, and the speed curve of path segmentation real-time look-ahead is high-order continuous, so that the final path curve also meets the requirement of high-order continuous and effective jitter control.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot trajectory planning method, system and robot. Background technique [0002] In the prior art, the motion controller of the robot obtains the position, speed, and acceleration data of the robot / servo motor through continuous interpolation operations, and transmits the data to the servo driver to realize the operation of the motor and the movement of the robot. Plan and interpolate the speed of the robot, which not only realizes the smooth start and stop of the robot, but also saves the acceleration and deceleration time. With the development of robot technology, higher requirements are also put forward for the performance of robots. High speed, high precision and high stability are important indicators of industrial robots. [0003] In order to improve the speed, accuracy and stability of the robot, one of the methods is an optimal planning algorithm based on p...

AI Technical Summary

Problems solved by technology

However, it is difficult for this algorithm to realize that the jerk is bounded. Therefore, the jitter problem is difficult to solve, and the method of filtering and vibration suppression may bring problems that the constraints cannot be guaranteed and the accuracy is reduced.

[0004] In addition, the complex calculation and real-time trajectory splicing of the optimal planning algorithm based on path-velocity decoupling have brought great difficulties to its actual implementation.

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