A robot trajectory planning method, system and robot

Abstract

The present invention discloses a robot trajectory planning method and system, which includes the following steps: setting speed forward planning to perform high-order continuous segmentation on the path, and correcting the path parameters of the current interpolation cycle through the speed forward planning before the path parameters are sent to the servo; the speed forward planning includes: obtaining the current speed, acceleration, maximum acceleration and forward maximum speed, setting the speed curve to calculate the forward distance when the robot slows down to zero when there is no uniform speed segment, and performing speed planning according to the forward distance; comparing the speed planning with the parameter-speed constraint curve, judging whether the speed planning has an over-limit position, and sending the path parameters to the servo when there is no over-limit position. The robot trajectory planning method and system of the present invention make full use of the speed limit curve, complete the entire path planning at a high speed, and the speed curve of the real-time forward look of the path segment is high-order continuous, so the final path curve also satisfies the high-order continuous effective control of jitter.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a robot trajectory planning method, system and robot. Background Art

[0002] In the prior art, the robot's motion controller obtains the position, speed, and acceleration data of the robot / servo motor through continuous interpolation calculations, and transmits them to the servo driver to realize the motor operation and robot movement. Planning and interpolating the robot's speed can not only achieve smooth start and stop of the robot, but also save 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 approach is to use an optimal planning algorithm based on path-speed decoupling. This algorithm uses dynamic programming or convex optimization methods to achieve time-optimal and energy-optimal trajectory planning under various constraints. However, it is difficult for this algorithm to make the jerk bounded, so the jitter problem is difficult to solve. The use of filtering and vibration suppression methods may lead to problems such as unguaranteed constraints and reduced accuracy.

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

[0005] Based on this, in order to solve the technical problems existing in the prior art, the present invention proposes a robot trajectory planning method and system based on segmented forward-looking design, which fully utilizes the speed limit curve to complete path planning at high speed, uses a known high-order continuous speed curve for speed planning, effectively controls the acceleration constraint, and avoids jitter caused by excessive acceleration.

[0006] In a first aspect, this embodiment provides a robot trajectory planning method, comprising the following steps:

[0007] The path (p(s)) is expressed in the form of path parameters, the path is discretized, the speed limit at each discrete point is calculated, and the parameter-speed constraint curve is fitted according to the joint speed constraints;

[0008] Set the speed forward planning to perform high-order continuous segmentation on the path, and use the speed forward planning to correct the path parameters of the current interpolation cycle before sending the path parameters to the servo;

[0009] The speed forward planning includes:

[0010] Step S1: Get the current speed (V current ), acceleration (A current), maximum acceleration, and forward-looking maximum velocity (V max ), calculate the forward distance when the robot slows down to zero when there is no uniform speed segment by setting the speed curve, and perform speed planning based on the forward distance;

[0011] Step S2: Compare the speed plan with the parameter-speed constraint curve to determine whether the speed plan has an over-limit position, and if there is no over-limit position, send the path parameter to the servo to control the movement of the robot.

[0012] In a second aspect, an embodiment of the present application provides a robot trajectory planning system, including a trajectory interpolation module, the trajectory interpolation module includes a forward planning module and an interpolation module, the forward planning module includes a speed planning module and a comparison and judgment module,

[0013] The forward planning module is used to segment the path into high-order continuous segments and correct the path parameters of the interpolation cycle before sending them to the servo;

[0014] The speed planning module is used to obtain the current speed (V current ), acceleration (A current ), maximum acceleration, and forward-looking maximum velocity (V max ), calculate the forward distance when the robot slows down to zero when there is no uniform speed segment by setting the speed curve, and perform speed planning based on the forward distance;

[0015] The comparison and judgment module is used to compare the speed plan with the parameter-speed constraint curve to determine whether the speed plan has an over-limit position;

[0016] The interpolation module is used to send the path parameter to the servo when there is no over-limit position, thereby controlling the movement of the robot.

[0017] In a third aspect, an embodiment of the present application provides an industrial robot, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method provided in the first aspect when executing the computer program.

[0018] In a fourth aspect, an embodiment of the present application provides a robot computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the method described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0019] The robot trajectory planning method and system of the embodiment of the present application provide real-time high-speed speed planning under constraints through the idea of ​​segmented forward-looking. The speed planning uses a known high-order continuous speed curve to effectively control the acceleration constraint and avoid jitter caused by excessive acceleration.

[0020] At the same time, the robot trajectory planning method and system of the embodiments of the present application have a small amount of speed forward planning calculation, can be executed in real time following path interpolation, and do not need to adopt a multi-threaded synchronous planning method, thus avoiding various abnormal problems caused by waiting between multiple threads.

[0021] The robot trajectory planning method and system of the embodiment of the present application, under the premise that the path planning has been determined, meets various torque, speed and other constraints, and completes smooth high-order trajectory planning as quickly as possible, which is one of the important core technologies for robots to ensure high performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] in:

[0024] Figure 1 Schematic diagram of the hardware structure of the robot trajectory planning system of this embodiment;

[0025] Figure 2 This is a schematic diagram of the main process of the robot trajectory planning method of this embodiment;

[0026] Figure 3 This is a flow chart of path initialization of the robot trajectory planning method of this embodiment;

[0027] Figure 4 is a detailed flow chart of the robot trajectory planning method of this embodiment;

[0028] Figure 5 Schematic diagram of the software module structure of the robot trajectory planning system of this embodiment;

[0029] Figure 6 A schematic diagram showing the hardware structure of the control part of the robot trajectory planning system of this embodiment;

[0030] Figure 7 This is a forward-looking curve diagram of the algorithm planning speed of the robot trajectory planning method in this embodiment. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0033] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] The robot trajectory planning system of this embodiment is a software module, which is installed on the control terminal of the industrial robot, such as a connected server or computer.

[0035] Please refer to Figure 1 , the industrial robot shown includes a manipulator 11 with multi-axis motion in a first three-dimensional coordinate system and a manipulator 12 with multi-axis motion in a second three-dimensional coordinate system. The first three-dimensional coordinate system includes an X-axis, a Y-axis and a Z-axis. The second three-dimensional coordinate system includes an a-axis, a b-axis and a c-axis. The robot's control components, the manipulator 11 and the manipulator 12, are connected to a control terminal 13. The control terminal includes a display screen 14 and a communication module 15. The control terminal is also connected to a teaching pendant 17 to obtain a path input by a user through the teaching pendant or other means.

[0036] Please refer to Figure 5 The robot trajectory planning system of this embodiment includes a path initialization module 20 and a trajectory interpolation module 30. The path initialization module 20 is used to obtain the path, set the speed curve, fit the parameter-speed constraint curve, calculate the maximum acceleration, and complete the parameter assignment during the first forward planning. The trajectory interpolation module 30 performs position over-limit judgment before the interpolation parameters are sent to the servo, and completes the judgment of the new interpolation distance before the new segmented speed planning.

[0037] The path initialization module 20 includes a path module 21 , a maximum acceleration module 22 , a curve fitting module 23 and a value assignment module 24 .

[0038] The trajectory interpolation module 30 includes a forward planning module 31, a loop judgment module 32, an interpolation distance judgment module 33 and an interpolation module 34. The forward planning module 31 includes a speed planning module 41 and a comparison judgment module 42. The interpolation distance judgment module 33 includes an update module 51, a second judgment module 52 and a segmentation module 53.

[0039] The robot trajectory planning system of this embodiment sets the speed forward planning to perform high-order continuous segmentation on the path, and provides real-time high-speed speed planning under constraints. The speed planning uses a known high-order continuous speed curve, such as an S-type speed curve or a Sin-type speed curve, which can effectively control the acceleration constraint and avoid jitter caused by excessive acceleration.

[0040] The functions of the path initialization module 20 of the robot trajectory planning system of this embodiment are introduced as follows.

[0041] The path module 21 obtains a path (p(s)). In the path P(s), s represents a path parameter, and the location information can be obtained according to s.

[0042] The maximum acceleration module obtains a given jerk time (t2), and obtains the maximum acceleration under the torque constraint according to the jerk time and the set speed curve. The jerk time (t2) can be specified by the user or given according to actual measurement. The default value is 0.1 seconds. The jerk time (t2) is used as a parameter of the set speed curve to participate in the determination of the maximum acceleration. In this embodiment, the set speed curve is an S-type speed curve or a Sin-type speed curve.

[0043] The curve fitting module 23 discretizes the path and parameterizes the path p(s), and obtains the position information and speed limit information at the discrete point s after discretization. The curve fitting module 23 calculates the speed constraint at each discrete point and fits the parameter-speed constraint curve according to the joint speed constraint. In path planning, the speed constraint VLimit corresponding to a series of positions s can be obtained for real-time interpolation.

[0044] The assignment module 24 initializes the parameters of the forward planning. When planning for the first time, the forward distance is zero, the current speed (V current ) and acceleration (A current ) takes zero, the maximum speed of the first look-ahead (V max ) is taken from half of the speed limit of the first discrete point. In this embodiment, a forward-looking distance of 0 indicates that a real-time forward planning will be performed in the first cycle, and the forward-looking distance is a condition for determining whether to perform a real-time planning.

[0045] The functions of the trajectory interpolation module 30 of the robot trajectory planning system of this embodiment are introduced as follows.

[0046] The forward planning module 31 is used to divide the path into high-order continuous segments and correct the path parameters of the interpolation cycle before sending them to the servo. The path parameters sent to each servo robot include joint positions.

[0047] The speed planning module 41 obtains the current speed (Vcurrent), acceleration (Acurrent), maximum acceleration and forward maximum speed (Vmax), calculates the forward distance for the robot to slow down to zero when there is no uniform speed segment in the speed curve, and performs speed planning according to the forward distance;

[0048] The comparison and judgment module 42 compares the speed plan with the parameter-speed constraint curve to determine whether the speed plan has an over-limit position.

[0049] The interpolation module 34 sends the path parameter to the servo to control the robot movement when there is no over-limit position. In this embodiment, the robot speed planning is to calculate, correct and determine the joint position of the current interpolation cycle, and then perform robot interpolation according to the joint position and send it to the servo.

[0050] The loop judgment module 32 is used to adjust the forward maximum speed (V max ), return to the speed forward planning step and recalculate and compare the speed plan.

[0051] When there is no over-limit position, it also includes the interpolation distance judgment of the new forward planning. When there is no over-limit position, the update module 51 updates the forward distance to the distance of the speed planning speed increase to the uniform acceleration section.

[0052] The second determination module 52 determines whether the current planned distance of the path is greater than the forward-looking distance.

[0053] The segmentation module 53 re-interpolates the current speed (V current ), acceleration (A current ), maximum acceleration, and forward-looking maximum velocity (V max ) to carry out a new segment speed planning.

[0054] When the planned distance is less than the forward-looking distance, the interpolation module 34 completes the planning of the remaining path, performs real-time interpolation, and generates interpolation points until the path is completely completed.

[0055] Method Embodiment

[0056] Please refer to Figure 2 as well as Figure 3 , which is a main flow chart of the robot trajectory planning method of this embodiment.

[0057] Figure 3 The figure shows the path initialization step. When the path is segmented and forward-planned for the first time, the speed curve, parameter-speed constraint curve and startup parameters need to be determined. The path initialization step includes:

[0058] Step 101: Get the path (p(s)).

[0059] Step 102: Obtain the given acceleration time (t 2 ), and the maximum acceleration under the torque constraint is obtained according to the acceleration time and the set speed curve; the set speed curve is an S-type speed curve or a Sin-type speed curve.

[0060] Step 103: Express the path (p(s)) in the form of path parameters, discretize the path, calculate the velocity constraints at each discrete point, and fit the parameter-velocity constraint curve according to the joint velocity constraints.

[0061] The set speed curve is an S-type speed curve or a Sin-type speed curve;

[0062] The calculation formula of the parameter-speed constraint curve is as follows:

[0063]

[0064] Where V is the maximum Cartesian velocity constraint, θ max is the maximum velocity of each joint, J(θ) is the Jacobian matrix at the discrete point, and vector is the first-order derivative of the path at the discrete point.

[0065] Step 104: Initialize the parameters of the forward planning. When planning for the first time, the forward distance is zero, the current speed (V current ) and acceleration (A current ) takes zero, the maximum speed of the first look-ahead (V max ) is taken from half of the speed limit at the first discrete point.

[0066] The following steps 105 and 106 are part of the overall independent solution. The actual process directly enters step S1 from step 104 and connects with the loop point.

[0067] Step 105: Express the path (p(s)) in the form of path parameters, discretize the path, calculate the speed limit at each discrete point, and fit the parameter-speed constraint curve according to the joint speed constraint.

[0068] Step 106: Set the speed forward planning to perform high-order continuous segmentation on the path, and correct the path parameters of the current interpolation cycle through the speed forward planning before sending the path parameters to the servo.

[0069] The speed forward planning includes:

[0070] Step S1: Get the current speed (V current ), acceleration (A current ), maximum acceleration, and forward-looking maximum velocity (V max ), the forward distance at which the robot slows down to zero when there is no uniform speed segment is calculated with the set speed curve, and the speed is planned based on the forward distance.

[0071] Step S2: Compare the speed plan with the parameter-speed constraint curve to determine whether the speed plan has an over-limit position, and if there is no over-limit position, send the path parameter to the servo to control the movement of the robot.

[0072] Step S2 may be further divided into step S21, step S22 and step S23.

[0073] Step S21: Compare the speed plan with the parameter-speed constraint curve.

[0074] Step S22: Determine whether there is an over-limit position in the speed plan.

[0075] Step S23: When there is no over-limit position, the path parameter is sent to the servo to control the movement of the robot.

[0076] Step S11: Reduce the forward maximum speed (V max ), and return to the loop step S1 to recalculate and compare the speed plan.

[0077] When there is no over-limit position, the path parameters are sent to the servo and the interpolation distance judgment of the new forward planning is performed, including:

[0078] Step S31: Update the forward distance to the distance from the speed planning acceleration to the uniform acceleration segment.

[0079] Step S32: Determine whether the current planned distance of the path is greater than the forward distance.

[0080] Step S33: When the planned distance is greater than the forward distance, the current interpolation speed (V current ), acceleration (A current ), maximum acceleration, and forward-looking maximum velocity (V max ) to carry out a new segment speed planning.

[0081] Step S33: When the planned distance is less than the forward distance, real-time interpolation is performed to generate interpolation points until the entire path is completed.

[0082] Among them, when the path is segmented, when the over-limit position judgment and the interpolation distance judgment are met, the unfinished path in the curve planning that meets the over-limit position judgment is discarded, and a new forward planning is started again after the interpolation distance judgment is met.

[0083] Please refer to Figure 7 , which is a graph showing the algorithm planning speed preview curve of the robot trajectory planning method. The horizontal axis is the number of interpolation cycles, and the vertical axis is the Cartesian speed.

[0084] Curve B represents the speed constraint curve when each forward speed planning is performed. In the actual planning process, the speed constraint curve is based on the path parameter s.

[0085] Curve A represents the speed look-ahead curve for each segment. The asterisk mark at the intersection of curve A and the curve, i.e. the look-ahead distance, indicates the location point for a new look-ahead speed planning.

[0086] The robot trajectory planning method of this embodiment makes full use of the speed limit curve to complete the entire path planning at the fastest possible speed. The speed curve used for segmented real-time forward-looking is high-order continuous, so the final curve also satisfies high-order continuity, which can effectively control the acceleration constraint, avoid jitter caused by excessive acceleration, and ensure a small amount of calculation.

[0087] Please refer to Figure 6 In another embodiment of the present invention, a robot trajectory planning system is provided, including a memory 602, a processor 601, and a computer program 604 stored in the memory 602 and executable on the processor 601, wherein the processor 601 is connected to a communication module 605, and the processor 601 implements a robot trajectory planning method when executing the program.

[0088] The terminal on which the robot trajectory planning software is installed may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The communication information protection device / terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art may understand that the schematic diagram is merely an example of a communication information protection device / terminal device and does not constitute a limitation on the communication information protection device / terminal device. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the communication information protection device / terminal device may also include input and output devices, network access devices, buses, etc.

[0089] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the robot trajectory planning terminal, and uses various interfaces and lines to connect various parts of the entire robot.

[0090] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the robot trajectory planning system by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store operating devices, at least one application required for a function, etc.; the data storage area can store data created according to the use of the robot, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0091] Wherein, if the robot trajectory planning system or the module / unit integrated in the terminal is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0092] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A robot trajectory planning method, It is characterized in that The following steps are involved: Express the path p(s) in the form of path parameters, discretize the path, calculate the speed limit at each discrete point, and fit the parameter-speed constraint curve according to the joint speed constraint; Setting speed forward planning to perform high-order continuous segmentation on the path, and correcting the path parameters of the current interpolation cycle through the speed forward planning before sending the path parameters to the servo; The speed forward planning includes: Step S1: Get current speed V current , acceleration A current , maximum acceleration and forward-looking maximum speed V max , calculate the forward distance when the robot slows down to zero when there is no uniform speed segment by setting the speed curve, and perform speed planning according to the forward distance; Step S2: comparing the speed plan with the parameter-speed constraint curve to determine whether there is an over-limit position in the speed plan, and if there is no over-limit position, sending the path parameter to the servo to control the movement of the robot; The step of sending the path parameters to the servo also includes an interpolation distance determination step, including: The forward distance is updated to be the distance from the speed planning acceleration to the uniform acceleration section; Determine whether the current planned distance of the path is greater than the forward distance; When the planned distance is greater than the forward distance, the current interpolation speed is used again. V current , acceleration A current , maximum acceleration and forward-looking maximum speed V max Carry out a new segment speed planning; When the planned distance is smaller than the forward-looking distance, real-time interpolation is performed to generate interpolation points until the entire path is completed.

2. The robot trajectory planning method according to claim 1, It is characterized in that When there is an over-limit position, the speed forward planning steps are cycled, including: Adjust the maximum lookahead speed V max , return to step S1 and step S2 of the speed forward planning, and recalculate and compare to determine the speed plan; When there is no over-limit position, the corrected path parameters are sent to the servo to control the movement of the robot.

3. The robot trajectory planning method according to claim 1, It is characterized in that The path initialization step is also included, and the path initialization step includes: Get path p(s); Get the given acceleration time t 2 , obtaining the maximum acceleration under torque constraint according to the acceleration time and the set speed curve; Representing the path p(s) in the form of path parameters, discretizing the path, calculating the velocity constraints at each discrete point, and fitting the parameter-velocity constraint curve according to the joint velocity constraints; Initialize the parameters of the velocity look-ahead planning. At the first planning, the look-ahead distance is zero, and the current velocity V current and the acceleration A current are taken as zero. The maximum velocity at the first look-ahead V max is taken as half of the speed limit of the first discrete point.

4. The robot trajectory planning method according to claim 1 or 3, It is characterized in that The set speed curve is an S-type speed curve or a Sin-type speed curve; The parameter-speed constraint curve calculation formula is as follows: in V is the maximum Cartesian velocity constraint, θ max is the maximum velocity of each joint, J(θ) is the Jacobian matrix at the discrete point, vector is the first-order derivative of the path at this discrete point.

5. A robot trajectory planning system, It is characterized in that It includes a trajectory interpolation module, which includes a forward planning module and an interpolation module, and the forward planning module includes a speed planning module and a comparison and judgment module. The forward planning module is used to set the speed forward planning to perform high-order continuous segmentation on the path, and to correct the path parameters of the interpolation cycle before sending them to the servo; The speed planning module is used to obtain the current speed V current , acceleration A current , maximum acceleration and forward-looking maximum speed V max , calculate the forward distance when the robot slows down to zero when there is no uniform speed segment by setting the speed curve, and perform speed planning according to the forward distance; The comparison and judgment module is used to compare the speed plan with the parameter-speed constraint curve to determine whether the speed plan has an over-limit position; The interpolation module is used to send the path parameter to the servo to control the movement of the robot when there is no over-limit position; It also includes a circulation judgment module and an interpolation distance judgment module, wherein the interpolation distance judgment module includes an update module, a second judgment module and a segmentation module. The cycle judgment module is used to adjust the forward maximum speed when there is an over-limit position. V max , return to the speed forward planning step of the loop, recalculate and compare to determine the speed plan; The updating module is used to update the forward distance to the distance from the speed planning acceleration to the uniform acceleration section; The second judgment module is used to judge whether the current planned distance of the path is greater than the forward distance; The segmentation module is used to perform a new segmented speed planning at the current speed of the current interpolation when the planned distance is greater than the look-ahead distance V current , acceleration A current , maximum acceleration, and look-ahead maximum speed V max ; The interpolation module is also used to perform real-time interpolation when the planned distance is less than the forward-looking distance, and generate interpolation points until the path is completely completed.

6. The robot trajectory planning system according to claim 5, It is characterized in that It also includes a path initialization module, which includes a path module, a maximum acceleration module, a curve fitting module and an assignment module; The path module is used to obtain the path p(s); The maximum acceleration module is used to obtain a given acceleration time t 2 , obtaining the maximum acceleration under torque constraint according to the acceleration time and the set speed curve; The curve fitting module is used to discretize the path, calculate the speed constraint at each discrete point, and fit the parameter-speed constraint curve according to the joint speed constraint; The assignment module is used to initialize the parameters of the forward planning. When planning for the first time, the forward distance is zero and the current speed is V current And acceleration A current Take zero, the maximum speed of the first look ahead V max Take half of the speed limit at the first discrete point.

7. An industrial robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 4 is implemented.

8. A computer program product for a robot, It is characterized in that The computer program product comprises a computer program stored on a non-volatile computer-readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 4.

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