A method for optimal trajectory planning of a robotic arm based on cascade filters

Through the optimal trajectory planning method of the robotic arm based on cascade filters, the curvature is optimized using the quintic Bezier curve and bat algorithm, and the dynamic speed planning is performed in combination with the second-order filter. The shortcomings of curvature and speed planning in the traditional method are solved, and the stability and efficiency of the robotic arm are improved.

CN117681193BActive Publication Date: 2025-09-23SHENZHEN HUACHENG IND CONTROL
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Patent Information

Application Number
CN202311668916.X
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-12-07
Publication Date
2025-09-23
Estimated Expiration
2043-12-07

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Abstract

The present invention belongs to the field of robotic arm control technology, and more specifically, is a method for optimal trajectory planning for a robotic arm based on a cascade filter. The method comprises the following steps: Step 1: Using a quintic Bezier curve to locally smooth corners of small line segments; Step 2: Establishing an optimal model for curvature extrema within a constraint range, using the bat algorithm to solve for the optimal control point and complete curve optimization; Step 3: Using a cascaded second-order filter and a sliding window filter to perform dynamic speed planning. The present invention optimizes curvature and employs dynamic speed planning to improve the stability of the robotic arm and the maximum allowable corner feed rate, thereby resolving the issues with traditional speed planning algorithms, which are difficult to modify online and suffer from large speed fluctuations.
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Citation Information

Patent Citations

  • Robot motion control method and related device

    CN108513636A

  • Machining method based on Bezier curve corner smooth transition algorithm

    CN111061213A