Multi-joint equipment trajectory determination method, system, device and storage medium

Abstract

The embodiment of the present invention discloses a method, system, device and storage medium for determining the trajectory of a multi-joint device, and belongs to the field of automatic control technology. The method includes obtaining the motion information of the terminal of the multi-joint device in Cartesian space; fitting the posture information in the motion information to obtain a posture curve; calculating a speed planning curve according to the speed information in the motion information; using a kinematic model corresponding to the multi-joint device to process the posture curve and the speed planning curve to obtain the axial motion information of each joint axis of the multi-joint device, so as to determine the trajectory of the multi-joint device according to the axial motion information. There is no need to add additional sensing hardware equipment and while reproducing the posture of the multi-joint device, the influence of the speed factor on the trajectory is taken into account, thereby improving the quality of the trajectory determination of the multi-joint device.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a method, system, device and storage medium for determining a trajectory of a multi-joint device. Background Art

[0002] Multi-joint equipment relies on trajectory programming to complete its movements, including teaching pendant teaching programming, offline software programming, and drag teaching programming, etc. Among them, due to efficiency and cost constraints, the drag teaching programming method has been widely used due to its advantages such as simple operation and good flexibility and adaptability.

[0003] In the prior art, the dragging solution usually installs a torque sensor at the end of the multi-joint device to complete the trajectory setting. However, due to the large number of sensor devices and cost constraints, the above solution is difficult to ensure the detection accuracy of the sensor devices, which limits the quality of the multi-joint device trajectory determination. Summary of the invention

[0004] In view of this, the present invention provides a method, system, device and storage medium for determining the trajectory of a multi-joint device, which are used to solve the problem of the quality of trajectory determination of a multi-joint device in the prior art. In order to achieve one or part or all of the above purposes or other purposes, the present invention proposes a method, system, device and storage medium for determining the trajectory of a multi-joint device. In the first aspect:

[0005] A method for determining a trajectory of a multi-joint device, comprising:

[0006] Get the motion information of the end of the multi-joint device in Cartesian space;

[0007] Performing fitting processing on the posture information in the action information to obtain a posture curve;

[0008] Calculate a speed planning curve according to the speed information in the action information;

[0009] The posture curve and the speed planning curve are processed by using a kinematic model corresponding to the multi-joint device to obtain axis motion information of each joint axis of the multi-joint device, so as to determine the trajectory of the multi-joint device according to the axis motion information.

[0010] Preferably, the step of performing fitting processing on the posture information in the action information to obtain a posture curve comprises:

[0011] The pose information is calculated and fitted using a cubic B-spline non-uniform calculation model to obtain the pose curve.

[0012] Preferably, the step of processing the posture curve and the speed planning curve using a kinematic model corresponding to the multi-joint device to obtain the axis motion information of each joint axis of the multi-joint device comprises:

[0013] The kinematic model is used to perform inverse solution processing on the posture curve constrained by the velocity planning curve to obtain the axis motion information of each joint axis.

[0014] Preferably, before obtaining the motion information of the end of the multi-joint device in the Cartesian space, the method further comprises:

[0015] Acquire the target information of each of the joint axes collected when the end of the multi-joint device moves along the target trajectory;

[0016] Using the kinematic model to perform forward solution processing on the axis posture information in all the target data, to obtain the posture information in the Cartesian space of the end of the multi-joint device;

[0017] The kinematic model is used to process the axis speed information in all the target data to obtain the speed information in the Cartesian space of the end of the multi-joint device.

[0018] Preferably, the step of using the kinematic model to process the axis speed information in all the target data to obtain the speed information in the Cartesian space of the end of the multi-joint device includes:

[0019] Derivative processing is performed on the kinematic model to obtain a Jacobian matrix model;

[0020] The axis speed information is processed using the Jacobian matrix model to obtain the speed information.

[0021] Preferably, after processing the axis speed information in all the target data using the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device, the method further comprises:

[0022] Determine the motion information based on the posture information and the speed information;

[0023] A motion instruction is generated according to the motion information and the motion information is stored.

[0024] Preferably, the motion model is obtained through DH modeling based on the motion information of the multi-joint device.

[0025] Second aspect:

[0026] A multi-joint device trajectory determination system includes an acquisition module for acquiring motion information of a terminal of the multi-joint device in a Cartesian space;

[0027] A posture module, used for fitting the posture information in the action information to obtain a posture curve;

[0028] A speed module, used for calculating a speed planning curve according to the speed information in the action information;

[0029] The trajectory module is used to process the posture curve and the speed planning curve using a kinematic model corresponding to the multi-joint device to obtain the axis motion information of each joint axis of the multi-joint device, so as to determine the trajectory of the multi-joint device according to the axis motion information.

[0030] Preferably, the posture module includes a spline unit, which is used to calculate and fit the posture information using a cubic B-spline non-uniform calculation model to obtain the posture curve.

[0031] Preferably, the trajectory module includes a trajectory unit, which is used to use the kinematic model to perform inverse processing on the posture curve constrained by the velocity planning curve to obtain the axis motion information of each joint axis.

[0032] Preferably, the system further comprises a target module, which is used to obtain the target information of each joint axis collected when the multi-joint device terminal moves along the target trajectory before obtaining the motion information of the multi-joint device terminal in the Cartesian space;

[0033] A Cartesian posture module, used for performing positive solution processing on the axis posture information in all the target data using the kinematic model to obtain the posture information in the Cartesian space of the end of the multi-joint device;

[0034] The Cartesian speed module is used to process the axis speed information in all the target data using the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device.

[0035] Preferably, the Cartesian velocity module includes a matrix unit for performing a derivative process on the kinematic model to obtain a Jacobian matrix model;

[0036] A matrix unit is used to process the axis speed information using the Jacobian matrix model to obtain the speed information.

[0037] Preferably, the system further comprises a determination module for determining the motion information based on the posture information and the speed information after the axis speed information in all the target data is processed by the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device;

[0038] The instruction module is used to generate a motion instruction according to the motion information and store the motion information.

[0039] Preferably, the motion model is obtained through DH modeling based on the motion information of the multi-joint device.

[0040] The third aspect:

[0041] A multi-joint device trajectory determination device comprises a memory and a processor, wherein a multi-joint device trajectory determination method is stored in the memory, and the processor is used to adopt the multi-joint device trajectory determination method when executing the multi-joint device trajectory determination method.

[0042] Fourth aspect:

[0043] A storage medium stores a computer program that can be loaded by a processor and execute the above method.

[0044] Implementing the embodiments of the present invention will have the following beneficial effects:

[0045] By acquiring the motion information of the end of the multi-joint device in the Cartesian space and fitting and calculating the motion information, the axis motion information of each joint axis is obtained. After the axis motion information is transmitted to the driver or controller of the corresponding joint axis, each joint axis can reproduce the motion corresponding to the motion information. Thus, the trajectory of the multi-joint device is determined. There is no need to add additional sensing hardware equipment, which ensures the cost of determining the trajectory of the multi-joint device. In addition, while reproducing the posture of the multi-joint device, the influence of the speed factor on the trajectory is taken into account, which improves the quality of the trajectory determination of the multi-joint device. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] 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.

[0047] in:

[0048] Figure 1 It is an overall flow chart of a method for determining a trajectory of a multi-joint device in one embodiment.

[0049] Figure 2 A schematic diagram of the structure of a three-axis device in a method for determining a trajectory of a multi-joint device in an embodiment.

[0050] Figure 3 The present invention is a flowchart of obtaining position information and speed information in a method for determining a trajectory of a multi-joint device in one embodiment.

[0051] Figure 4 A structural block diagram of a multi-joint device trajectory determination system in one embodiment.

[0052] Figure 5 It is a schematic diagram of the structure of a multi-joint device trajectory determination device in one embodiment. DETAILED DESCRIPTION

[0053] 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.

[0054] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein are only for the purpose of describing the embodiments of the present invention and are not intended to limit the present invention.

[0056] The embodiment of the present application discloses a method for determining the trajectory of a multi-joint device. Multi-joint devices such as three-axis mechanisms and four-axis mechanisms, etc., in some application scenarios, multiple multi-joint devices are required to perform the same operation, either simultaneously or sequentially, thus facing the problem of how to reproduce the trajectory of the multi-joint device.

[0057] In the prior art, dynamic modeling of multi-joint equipment is adopted to identify the body parameters and friction parameters, and compensate the gravity torque and friction torque of each joint to put the equipment in a frictionless and weightless state. Then the position information of each joint is obtained and calculated, and the trajectory curve equation is obtained by interpolation method, so as to use the trajectory curve equation to control other multi-joint equipment and realize trajectory reproduction.

[0058] In addition, in the prior art, it is also common to install a torque sensor at the end of the multi-joint device and draw the motion trajectory based on the sensor signal. The trajectory reproduction control of other multi-joint devices is completed according to the motion trajectory. However, for the above two trajectory reproduction methods, on the one hand, different multi-joint devices need to establish different dynamic models, which have high algorithm difficulty, difficult parameter identification and poor consistency. The trajectory control effect and accuracy of the multi-joint device are greatly affected by the identification parameters, and the control effect is poor. Second, the installed torque sensor increases the cost of trajectory reproduction.

[0059] In order to overcome the above technical defects, the present application provides a method for determining the trajectory of a multi-joint device, which is used to determine the trajectory that the multi-joint device needs to reproduce. Figure 1 As shown, including:

[0060] 101. Obtain the motion information of the end of the multi-joint device in Cartesian space.

[0061] In one embodiment, the end of the multi-joint device refers to the last joint of the multi-joint device. The motion information refers to the information related to the motion of the multi-joint device in Cartesian space. For ease of understanding, for example, in an application scenario, the motion information includes position information, speed information and posture information.

[0062] In one embodiment, the motion information of the multi-joint device terminal in Cartesian space is transmitted to the current execution subject by other devices through an interface. It should be noted that the entire set of motion information can be transmitted to the current execution subject at one time or in real time. In another embodiment, the motion information of the multi-joint device terminal in Cartesian space is retrieved by the current execution subject from a preset information storage space.

[0063] 102. Perform fitting processing on the posture information in the action information to obtain a posture curve.

[0064] Specifically, in one embodiment, the motion information includes the posture information of the end of the multi-joint device in the Cartesian space. It should be noted that the posture information is calculated by the posture information of each joint in the multi-joint device. The posture information refers to the position and posture value.

[0065] The pose information of the end of the multi-joint device in the Cartesian space is fitted and calculated to obtain a pose curve, where the pose curve is a continuous curve.

[0066] 103. Calculate a speed planning curve according to the speed information in the action information.

[0067] Specifically, in one embodiment, the motion information also includes speed information of the end section of the multi-joint device in Cartesian space. It should be noted that the speed information is calculated by the speed information of each joint in the multi-joint device.

[0068] In order to improve the accuracy of the determined trajectory, during the trajectory determination process, the speed planning curve is sampled according to the speed information to ensure that under the constraints of the speed planning curve, the speed of the determined trajectory is the same or similar to the speed of the trajectory to be reproduced. Among them, speed similarity means that the speed difference is controlled within a certain range.

[0069] 104. Process the posture curve and the speed planning curve using a kinematic model corresponding to the multi-joint device to obtain axis motion information of each joint axis of the multi-joint device, so as to determine the trajectory of the multi-joint device according to the axis motion information.

[0070] The kinematic model is used to calculate and process the posture curve and the velocity planning curve, and the posture information and velocity information in the Cartesian space are converted into the axis motion information corresponding to each joint axis of the multi-joint device. In one embodiment, the axis motion information includes the posture information and velocity information of each joint axis. After the axis motion information is transmitted to the driver of the corresponding joint axis, the driver controls the corresponding joint axis movement according to the axis motion information to achieve the reproduction of the trajectory.

[0071] By acquiring the motion information of the end of the multi-joint device in the Cartesian space and fitting and calculating the motion information, the axis motion information of each joint axis is obtained. After the axis motion information is transmitted to the driver or controller of the corresponding joint axis, each joint axis can reproduce the motion corresponding to the motion information. Thus, the trajectory of the multi-joint device is determined. There is no need to add additional sensing hardware equipment, which ensures the cost of determining the trajectory of the multi-joint device. In addition, while reproducing the posture of the multi-joint device, the influence of the speed factor on the trajectory is taken into account, which improves the quality of the trajectory determination of the multi-joint device.

[0072] In another embodiment of the present application, the step of performing fitting processing on the posture information in the action information to obtain a posture curve includes:

[0073] The pose information is calculated and fitted using a cubic B-spline non-uniform calculation model to obtain the pose curve.

[0074] Specifically, in one embodiment, the posture curve is obtained using the following formula.

[0075]

[0076] Among them, d i Control vertices for B-spline curves, is the cubic B-spline basis function.

[0077] By fitting the cubic B-spline non-uniform curve, the pose curve is obtained, which helps to improve the calculation efficiency and accuracy.

[0078] In another embodiment of the present application, the step of processing the posture curve and the speed planning curve using a kinematic model corresponding to the multi-joint device to obtain the axis motion information of each joint axis of the multi-joint device includes:

[0079] The kinematic model is used to perform inverse solution processing on the posture curve constrained by the velocity planning curve to obtain the axis motion information of each joint axis.

[0080] Under the premise of the speed planning curve constraint, the axis motion information of each joint axis is obtained by using the inverse solution of the kinematic model. Specifically, in one embodiment, the axis motion information is calculated using the following formula.

[0081]

[0082] in, is the axis movement information; f kine_ive (x) is the inverse solution equation; P(u) is the posture curve.

[0083] Using the posture curve, that is, the obtained difference-complemented Cartesian value, the axial motion information of each joint axis is obtained through the inverse solution of the kinematic model, which helps to ensure the calculation efficiency and accuracy.

[0084] In addition, it should be noted that, in one embodiment, the kinematic model is used to characterize the mechanical motion characteristics of the multi-joint device, and is actually a mathematical formula used to describe the mechanical motion characteristics of the multi-joint device. The mathematical formula is the kinematic model.

[0085] In one embodiment, the motion model is obtained by DH modeling based on the motion information of the multi-joint device. Specifically, a coordinate system is established on each connecting rod of the multi-joint device, and the coordinate transformation on the two connecting rods is realized by homogeneous coordinate transformation, thereby establishing the transformation relationship between the first and last coordinates of multiple connecting rod mechanisms. For a three-axis mechanism, with xyz linear axes, its kinematic model is:

[0086]

[0087] For Figure 2 The three-axis mechanism shown in Figure 1 has three rotation axes, and its kinematic model is:

[0088]

[0089] in:

[0090] item11=-cos(c)*(sin(a)*sin(b)-cos(a)*cos(b))-sin(c)*(cos(a)*sin(b)+cos(b)*sin(a))

[0091] item21=cos(c)*(cos(a)*sin(b)+cos(b)*sin(a))-sin(c)*(sin(a)*sin(b)-cos(a)*cos(b))

[0092] item31=0

[0093] item41=0

[0094] item12=sin(c)*(sin(a)*sin(b)-cos(a)*cos(b))-cos(c)*(cos(a)*sin(b)+cos(b)*sin(a))

[0095] item22=-cos(c)*(sin(a)*sin(b)-cos(a)*cos(b))-sin(c)*(cos(a)*sin(b)+cos(b)*sin(a))

[0096] item32=0

[0097] item42=0

[0098] item13=0

[0099] item23=0

[0100] item33=1

[0101] item43=0

[0102] item14=L1*cos(a)-L2*(sin(a)*sin(b)-cos(a)*cos(b))

[0103] item24=L1*sin(a)+L2*(cos(a)*sin(b)+cos(b)*sin(a))

[0104] item34=0

[0105] item44=1

[0106] In another embodiment of the present application, Figure 3 It is shown that before obtaining the motion information of the end of the multi-joint device in the Cartesian space, the method further includes:

[0107] 401. Obtain the target information of each joint axis collected when the terminal of the multi-joint device moves along a target trajectory.

[0108] In one embodiment, the motion information is collected. Among them, the multi-joint device refers to a device used to execute the trajectory that needs to be reproduced; the target trajectory movement refers to the trajectory that needs to be reproduced by other multi-joint devices. The target information is the motion information of each joint axis of the multi-joint device. In one embodiment, the target information includes the position and posture value and speed value of each joint axis of the multi-joint device.

[0109] 402. Perform forward solution processing on the axis posture information in all the target data using the kinematic model to obtain the posture information in the Cartesian space of the end of the multi-joint device.

[0110] The kinematic model is a model obtained by processing the motion characteristics of the multi-joint device. It should be noted that the multi-joint device refers to a device used to execute the trajectory that needs to be reproduced. The axis posture information in the target data is solved positively, and the axis posture information of all joint axes of the multi-joint device is converted into the Cartesian space posture information of the end of the multi-joint device.

[0111] 403. Process the axis speed information in all the target data using the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device.

[0112] Specifically, in one embodiment, the kinematic model forward solution equation is:

[0113] f kine (x);

[0114] The calculation formula of the axis pose information is:

[0115]

[0116] The speed information is calculated as:

[0117]

[0118] Where n is the number of joint axes, and t is the cumulative value of the sampling period. The cumulative value of the sampling period refers to the t1, t2, and t3 values ​​obtained based on the sampling frequency. In addition, is the axis pose information; is the shaft speed information; f Jacobi (x) is the Jacobian matrix.

[0119] The kinematic model is used to convert the axis posture information and axis velocity information into the posture information and velocity information in Cartesian space, which helps to improve the calculation speed and accuracy. In the subsequent trajectory reproduction process, there is no need to use sensor equipment, ensuring the cost of trajectory determination.

[0120] In another embodiment of the present application, the step of using the kinematic model to process the axis speed information in all the target data to obtain the speed information in the Cartesian space of the end of the multi-joint device includes:

[0121] 501. Derivative processing is performed on the kinematic model to obtain a Jacobian matrix model.

[0122] 502. Process the axis speed information using the Jacobian matrix model to obtain the speed information.

[0123] Using the Jacobian matrix model to calculate the axis velocity information helps to improve the calculation efficiency and quality.

[0124] In another embodiment of the present application, after the axis speed information in all the target data is processed by the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device, the method further includes:

[0125] 601. Determine the action information based on the posture information and the speed information.

[0126] That is, the motion information includes posture information and speed information.

[0127] 602. Generate a motion instruction according to the motion information and store the motion information.

[0128] Generating motion instructions from action information helps to transmit the motion instructions to the execution subject that needs to reproduce the trajectory, so that the execution subject of the motion instructions can obtain the Cartesian space posture information and speed information of the end of the multi-joint device according to the motion instructions, thereby realizing trajectory reproduction and determining a higher-precision trajectory.

[0129] By acquiring the motion information of the end of the multi-joint device in the Cartesian space and fitting and calculating the motion information, the axis motion information of each joint axis is obtained. After the axis motion information is transmitted to the driver or controller of the corresponding joint axis, each joint axis can reproduce the motion corresponding to the motion information. Thus, the trajectory of the multi-joint device is determined. There is no need to add additional sensing hardware equipment, which ensures the cost of determining the trajectory of the multi-joint device. In addition, while reproducing the posture of the multi-joint device, the influence of the speed factor on the trajectory is taken into account, which improves the quality of the trajectory determination of the multi-joint device.

[0130] The present application also provides a multi-joint device trajectory determination system, such as Figure 4 As shown, it includes an acquisition module 1, which is used to obtain the motion information of the end of the multi-joint device in the Cartesian space;

[0131] A posture module 2, used for fitting the posture information in the action information to obtain a posture curve;

[0132] A speed module 3 is used to calculate a speed planning curve according to the speed information in the action information;

[0133] The trajectory module 4 is used to process the posture curve and the speed planning curve using a kinematic model corresponding to the multi-joint device to obtain the axis motion information of each joint axis of the multi-joint device, so as to determine the trajectory of the multi-joint device according to the axis motion information.

[0134] Preferably, the posture module 2 includes a spline unit, which is used to calculate and fit the posture information using a cubic B-spline non-uniform calculation model to obtain the posture curve.

[0135] Preferably, the trajectory module 4 includes a trajectory unit, which is used to use the kinematic model to perform inverse processing on the posture curve constrained by the velocity planning curve to obtain the axis motion information of each joint axis.

[0136] Preferably, the system further comprises a target module, which is used to obtain the target information of each joint axis collected when the multi-joint device terminal moves along the target trajectory before obtaining the motion information of the multi-joint device terminal in the Cartesian space;

[0137] A Cartesian posture module, used for performing positive solution processing on the axis posture information in all the target data using the kinematic model to obtain the posture information in the Cartesian space of the end of the multi-joint device;

[0138] The Cartesian speed module is used to process the axis speed information in all the target data using the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device.

[0139] Preferably, the Cartesian velocity module includes a matrix unit for performing a derivative process on the kinematic model to obtain a Jacobian matrix model;

[0140] A matrix unit is used to process the axis speed information using the Jacobian matrix model to obtain the speed information.

[0141] Preferably, the system further comprises a determination module for determining the motion information based on the posture information and the speed information after the axis speed information in all the target data is processed by the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device;

[0142] The instruction module is used to generate a motion instruction according to the motion information and store the motion information.

[0143] Preferably, the motion model is obtained through DH modeling based on the motion information of the multi-joint device.

[0144] It should be noted that the above description of the embodiment of the system for determining the trajectory of a multi-jointed device is similar to the above method description and has the same beneficial effects as the method embodiment. For technical details not disclosed in the embodiment of the system for determining the trajectory of a multi-jointed device of the present invention, those skilled in the art should refer to the description of the method embodiment of the present invention for understanding.

[0145] It should be noted that, in the embodiment of the present invention, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM, Read Only Memory), a magnetic disk or an optical disk. In this way, the embodiment of the present invention is not limited to any specific combination of hardware and software.

[0146] Correspondingly, an embodiment of the present application also discloses a storage medium storing a computer program that can be loaded by a processor and execute the above method.

[0147] The present application also discloses a multi-joint device trajectory determination device, such as Figure 5As shown, it includes a processor 100, at least one communication bus 200, a user interface 300, at least one external communication interface 400 and a memory 500. Wherein, the communication bus 200 is configured to realize the connection communication between these components. Wherein, the user interface 300 may include a display screen, and the external communication interface 400 may include a standard wired interface and a wireless interface. Wherein, a multi-joint device trajectory determination method is stored in the memory 500. Wherein, the processor 100 is used to adopt the above method when executing the multi-joint device trajectory determination method stored in the memory 500.

[0148] The above description of the embodiment of the multi-joint device trajectory determination device and storage medium is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiment of the multi-joint device trajectory determination device and storage medium of the present invention, please refer to the description of the method embodiment of the present invention for understanding.

[0149] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present invention, the size of the serial number of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. The serial numbers of the above-mentioned embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0150] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0151] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0152] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0153] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0154] A person of ordinary skill in the art can understand that: all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0155] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a device to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks or optical disks.

[0156] 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 method for determining the trajectory of a multi-joint device, characterized in that: include: Acquire target information of each joint axis collected when the end of the multi-joint device moves according to the target trajectory, wherein the target information includes the position, posture value and speed value of each joint axis of the multi-joint device; Using a kinematic model corresponding to the multi-joint device, the axis posture information in all the target information is processed positively to obtain the Cartesian space posture information of the end of the multi-joint device; Processing the axis speed information in all the target information using the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device; Obtaining motion information of the end of the multi-joint device in Cartesian space; Performing fitting processing on the posture information in the action information, and calculating and fitting the posture information using a cubic B-spline non-uniform calculation model to obtain a posture curve; A speed planning curve is obtained according to the speed information sampling in the motion information; wherein, under the constraint of the speed planning curve, the trajectory determined according to the axis motion information is the same as the speed of the trajectory to be reproduced or the speed difference is controlled within a certain range; The kinematic model is used to perform inverse solution processing on the posture curve constrained by the speed planning curve to obtain the axis motion information of each joint axis of the multi-joint device, and the trajectory of the multi-joint device is determined according to the axis motion information. After the axis motion information is transmitted to the driver of the corresponding joint axis, the driver controls the corresponding joint axis action according to the axis motion information to achieve trajectory reproduction; The action information is transmitted to the execution subject by other devices through an interface in one go or in real time, or retrieved by the execution subject from a preset information storage space.

2. The method for determining the trajectory of a multi-joint device according to claim 1, characterized in that: The step of using the kinematic model to process the axis speed information in all the target information to obtain the speed information in the Cartesian space of the end of the multi-joint device includes: Derivative processing is performed on the kinematic model to obtain a Jacobian matrix model; The axis speed information is processed using the Jacobian matrix model to obtain the speed information.

3. The method for determining the trajectory of a multi-joint device according to claim 1, characterized in that: After the axis speed information in all the target information is processed by the kinematic model to obtain the speed information in the Cartesian space of the end of the multi-joint device, the method further includes: Determine the motion information based on the posture information and the speed information; A motion instruction is generated according to the motion information and the motion information is stored.

4. The method for determining the trajectory of a multi-joint device according to claim 1, wherein: The kinematic model is obtained through DH modeling according to the motion information of the multi-joint device.

5. A determination system using the multi-joint device trajectory determination method as claimed in claim 1, characterized in that: It includes an acquisition module for acquiring motion information of the end of the multi-joint device in Cartesian space; A posture module, used for fitting the posture information in the action information to obtain a posture curve; A speed module, used for calculating a speed planning curve according to the speed information in the action information; The trajectory module is used to process the posture curve and the speed planning curve using a kinematic model corresponding to the multi-joint device to obtain the axis motion information of each joint axis of the multi-joint device, so as to determine the trajectory of the multi-joint device according to the axis motion information.

6. A multi-joint device trajectory determination device, comprising a memory and a processor, characterized in that: The memory stores a method for determining the trajectory of a multi-joint device, and the processor is used to adopt the method for determining the trajectory of a multi-joint device according to any one of claims 1 to 4 when executing the method for determining the trajectory of a multi-joint device.

7. A storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 4.

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