A convolution dynamic jerk planning method and system for a rope-driven manipulator, and a computer storage medium

Abstract

The application discloses a rope-driven mechanical arm convolution dynamic jerk planning method and system, and a computer storage medium, which plans rope acceleration and speed of a rope-driven mechanical arm by using a twice continuous convolution method; an expected end displacement of a task space of the rope-driven mechanical arm is converted into joint angle change of a joint space by a robot inverse kinematics method; joint angle change of the joint space of the rope-driven mechanical arm is converted into rope displacement change and speed change of a rope space by a robot forward kinematics method; four displacement conditions, i.e., super-long displacement, long displacement, medium displacement and short displacement, are divided according to the size of the expected rope displacement; the displacement condition is selected according to the size of the expected rope displacement of the rope-driven mechanical arm; the size of the jerk is dynamically set; the expected rope acceleration and speed are planned by using the twice continuous convolution method; and the convolution planning motion process comprises accelerating motion, uniform decelerating motion, uniform speed motion, uniform variable acceleration accelerating motion and decelerating motion.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot control, and in particular to a convolution dynamic jerk planning method and system for a rope-driven manipulator, and a computer storage medium. BACKGROUND

[0002] In recent years, rope-driven manipulators have developed rapidly. Rope-driven manipulators have gradually entered the fields of pipeline detection, medical examination and surgery, space exploration, satellite capture and equipment maintenance, etc. A rope-driven manipulator is a robot in which multiple joints are connected in series and the rotation of the joints is controlled by ropes. It has a large number of degrees of freedom and a slender arm, and can move flexibly in space. It has various forms of movement and can better adapt to environments with many obstacles, complex terrain and narrow space. However, the high degrees of freedom and rope driving characteristics of the rope-driven manipulator result in complex forward and inverse kinematics calculation and motion planning of the rope-driven manipulator. Most scholars use the iterative Jacobian matrix method to control the displacement of the rope, and control the speed and acceleration of the rope by the difference between the desired rope length and the current rope length. However, this method can cause discontinuous speed of the rope, affecting the motion stability of the entire rope-driven manipulator. Some scholars have proposed a two-stage motion planning method, which can eliminate the problem of discontinuous speed caused by the iterative Jacobian matrix, improve the tracking performance and motion smoothness of the rope-driven manipulator, and greatly improve the repeatability of the rope-driven manipulator. This method plans the relationship between time, speed and acceleration by using a polynomial method, which is complicated and time-consuming. There are few algorithms for motion planning of rope-driven manipulators, which cannot meet the requirements of high degrees of freedom and high flexibility of rope-driven manipulators. In order to solve the problem of motion planning of rope-driven manipulators, the technology needs to be improved. SUMMARY

[0003] The present application aims to at least partially solve one of the problems in the related art. To this end, one object of the present application is to provide a convolution dynamic jerk planning method and system for a rope-driven manipulator, and a computer storage medium, for realizing motion planning of the rope-driven manipulator.

[0004] The technical solution adopted by the present application is as follows: a convolution dynamic jerk planning method for a rope-driven manipulator, comprising the following steps:

[0005] The acceleration and speed of the rope of the rope-driven manipulator are planned by using a quadratic continuous convolution method according to the desired displacement of the rope;

[0006] The desired displacement of the rope is obtained by robot forward and inverse kinematics calculation; the desired end displacement of the task space of the rope-driven manipulator is converted into the joint angle variable of the joint space by the method of robot inverse kinematics; the joint angle variable of the joint space of the rope-driven manipulator is converted into the rope displacement of the rope space by the method of robot forward kinematics;

[0007] According to the size of the expected rope displacement and the motion state, the expected rope displacement is divided into super-long displacement, long displacement, medium displacement and short displacement; the super-long displacement has a first acceleration motion region D I , a second deceleration motion region D II and two intermediate motion regions; the long displacement has a first acceleration motion region D I , a second deceleration motion region D II and one intermediate motion region; the medium displacement only has a first acceleration motion region D I and a second deceleration motion region D II ; the short displacement only has a D Ia region and a D IIa region; the displacement is represented by the area of the speed-time curve, and the slope represents the acceleration; the first acceleration motion region D I includes variable acceleration acceleration motion, uniform acceleration motion and variable acceleration deceleration motion; the second deceleration motion region D II includes acceleration increasing deceleration motion, uniform deceleration motion and acceleration decreasing deceleration motion; the acceleration decreasing deceleration motion, the uniform deceleration motion and the acceleration increasing deceleration motion; the intermediate motion region includes uniform motion; D Ia The acceleration region includes variable acceleration acceleration motion and uniform acceleration motion; D IIa The deceleration region includes acceleration increasing deceleration motion and uniform deceleration motion.

[0008] According to the size of the expected rope displacement of the rope-driven manipulator, the displacement condition is selected; the size of the rope jerk is dynamically set; the expected rope acceleration and speed are planned by using the method of twice continuous convolution; the motion process planned by twice continuous convolution includes uniform acceleration motion, uniform deceleration motion, uniform motion, variable acceleration acceleration motion and deceleration motion;

[0009] Twice continuous convolution includes first convolution operation and second convolution operation; the first convolution operation plans the speed and acceleration curve of only uniform motion, uniform acceleration and uniform deceleration motion by freely setting the size of the acceleration according to the given expected rope displacement and time; the curve is a trapezoidal speed curve; the second convolution operation plans the speed and acceleration curve of uniform acceleration motion, uniform deceleration motion, uniform motion, variable acceleration acceleration motion and deceleration motion by freely setting the size of the jerk on the basis of the first convolution operation; the curve is an S-shaped speed curve.

[0010] Another technical solution adopted by the application is: a convolution dynamic jerk planning system of a rope-driven manipulator, comprising:

[0011] An input unit is configured to input the expected end displacement and time of the rope-driven manipulator in the task space.

[0012] a displacement conversion unit, configured to convert the desired end displacement in the task space of the rope-driven manipulator into a change in joint angle in the joint space, and then convert the change in joint angle in the joint space into a desired rope displacement in the rope space of the rope-driven manipulator;

[0013] a displacement condition division unit, configured to divide four possible displacement conditions of the desired rope displacement of the rope-driven manipulator;

[0014] a displacement selection unit, configured to determine and select the displacement condition to which the desired rope displacement of the rope-driven manipulator belongs;

[0015] a convolution dynamic jerk planning unit, configured to plan the desired rope displacement into a jerk-adjustable speed and acceleration curve according to the selected displacement condition, for the movement of the rope-driven manipulator;

[0016] an output unit, configured to output the planned speed and acceleration curve to the rope-driven manipulator.

[0017] Another technical solution adopted by the present application is a computer storage medium having a computer program stored thereon, the program being executed by a processor to implement the following steps:

[0018] inputting a desired end displacement in the task space of the rope-driven manipulator and a time;

[0019] converting the desired end displacement in the task space of the rope-driven manipulator into a change in joint angle in the joint space, and then converting the change in joint angle in the joint space into a desired rope displacement in the rope space of the rope-driven manipulator;

[0020] divide four possible displacement conditions of the desired rope displacement of the rope-driven manipulator;

[0021] determine and select the displacement condition to which the desired rope displacement of the rope-driven manipulator belongs;

[0022] plan the desired rope displacement into a jerk-adjustable speed and acceleration curve according to the selected displacement condition, and output to the rope-driven manipulator.

[0023] The present application has the following advantages:

[0024] The present application is a convolution dynamic jerk planning method and system for a rope-driven manipulator, and a computer storage medium. By dynamically setting the jerk, the acceleration is smooth and the acceleration impact is reduced, ensuring the stable movement of the rope-driven manipulator and improving the positioning accuracy of the rope-driven manipulator. The discontinuity and impact problem of the rope-driven manipulator speed in the intermittent control process is solved. At the same time, the convolution calculation method is used to simplify the calculation and improve the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a kinematics model of a convolution dynamic jerk planning method of a rope-driven manipulator in the application;

[0026] Figure 2 is a schematic diagram of a convolution dynamic jerk planning method of a rope-driven manipulator in the application;

[0027] Figure 3 is a long displacement, a long displacement, a medium displacement, a short displacement four displacement condition schematic diagram of a convolution dynamic jerk planning method of a rope-driven manipulator in the application. DETAILED DESCRIPTION

[0028] In order for those skilled in the art to better understand the technical solutions of the present application, the specific technical solutions of the present application will be described in detail below in conjunction with the embodiments, so as to help those skilled in the art to further understand the present application. Obviously, the embodiments described in the present application are only a part of the embodiments of the present application, not all the embodiments. It should be pointed out that, for those skilled in the art, the embodiments in the present application and the features in the embodiments can be combined with each other without departing from the concept of the present application and without conflict with each other. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the disclosure and protection scope of the present application.

[0029] In addition, the terms "first", "second", "step 1", "step 2" and the like in the specification and claims and drawings of the present application are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those described herein. At the same time, the terms "include" and "have" in the present application and any variation thereof are intended to cover non-exclusive inclusion. In addition, for those skilled in the art, the specific meaning of the above terms in the present application can be understood in combination with the prior art according to the specific circumstances.

[0030] In view of the problem of motion planning difficulty of rope-driven manipulator, a convolution dynamic jerk planning method is proposed, including the following steps:

[0031] The desired displacement of the rope is calculated by the forward and inverse kinematics of the robot; the desired end displacement of the task space of the rope-driven manipulator is converted into the joint angle variable of the joint space by the inverse kinematics method of the robot; the joint angle variable of the joint space of the rope-driven manipulator is converted into the rope displacement of the rope space by the forward kinematics method of the robot;

[0032] REFERENCE Figure 1a. Establish the DH coordinate system for an 8-DOF (degrees of freedom) tethered robotic arm. From the robot's forward kinematics, the homogeneous transformation matrix between two adjacent links of the tethered robotic arm is:

[0033]

[0034] In the formula:

[0035] sθ i =sin(θ) i ),sα i =sin(α) i );

[0036] cθ i =cos(θ) i ),cα i =cos(α) i ).

[0037] By simultaneously solving the above equations, we can obtain the position and attitude equations of the end effector of the cable-driven robotic arm in the Cartesian coordinate system:

[0038] 0 T n = 0 T1 1 T2…… n-1 T n (2)

[0039] refer to Figure 1 From the joint structure in section b, we can see that joints 1 and 3 are connected by a "yaw-pitch" joint, and joints 2 and 4 are connected by a "pitch-yaw" joint. Now, taking the "yaw-pitch" joint 1 as an example, we analyze the rope change from joint space to rope space. The three ropes are labeled 1, 2, and 3, and pass through the rope holes on the variable stiffness rope-driven robotic arm joints at intervals of δ = 120°. Rope 1 has an angle β with the Z-axis, the distance between the two universal joints is L, the distance between the arm discs is 2h, and the rope arrangement radius is r. Therefore, the coordinates of the lower ends C1, C2, and C3 of the ropes in the {0} coordinate system are as follows:

[0040]

[0041] Similarly, the upper end C of the rope 1' C 2' C 3' The coordinates of in the {2} coordinate system are as follows:

[0042]

[0043] Then, using vector operations, C can be... 1' C 2' C 3' A point is represented in the {0} coordinate system as:

[0044]

[0045]

[0046]

[0047] The rope vector C1C 1' In the {0} system, it is expressed as:

[0048]

[0049] Reference Figure 2 , according to the size of the rope displacement of the rope-driven manipulator, the displacement condition is selected; the size of the rope jerk is dynamically set; the expected rope acceleration and speed are planned by using the method of twice continuous convolution; the motion process planned by twice continuous convolution includes: uniform acceleration motion, uniform deceleration motion, uniform speed motion, acceleration motion and deceleration motion with variable acceleration; twice continuous convolution includes: first convolution operation and second convolution operation; the first convolution operation plans the speed and acceleration curve of only uniform speed motion, uniform acceleration and uniform deceleration motion by freely setting the size of the acceleration through the given expected rope displacement and time; the curve is a trapezoidal speed curve; the second convolution operation plans the speed and acceleration curve with uniform acceleration motion, uniform deceleration motion, uniform speed motion, acceleration motion and deceleration motion with variable acceleration by freely setting the size of the jerk on the basis of the first convolution operation; the curve is an S-shaped speed curve.

[0050] Reference Figure 2 , Figure 2 is the principle diagram of a convolution dynamic jerk planning method of a rope-driven manipulator in the application; in the embodiment, the expected end displacement of the rope-driven manipulator and the expected running time are input according to the actual task requirement. According to the property of convolution, the total area of the input and output function curves of convolution operation is invariable. The property can be used to plan the speed curve of the rope. The expected displacement and time of the rope are rectangular speed input function y0(t) and t, and the vertical coordinate is the motion speed v0 of the rope. The expression of a convolution operator h(t a ) is shown in equation (9):

[0051]

[0052] The definition domain of h(t a ) is (0, t a ), and t a is the time of the first convolution operation, which is also the time of the uniform acceleration stage of the trapezoidal speed curve. The input function of the first convolution is shown in equation (10):

[0053] y0(t) = v0 (10)

[0054] The first convolution operation is performed on h(t a ) and h(t a ) to obtain the y1(t) trapezoidal velocity profile:

[0055]

[0056] t a = v0 / a max (12)

[0057] a max is the maximum acceleration in the uniform acceleration phase, and j max is the maximum jerk in the variable acceleration phase.

[0058] In the uniform acceleration phase of the y1(t) trapezoidal velocity profile, the acceleration changes from 0 to a max The acceleration changes from a max to 0 in the deceleration and acceleration phase is a sudden change process. This process will cause a speed and acceleration impact on the motion of the rope-driven manipulator, shorten the service life, and also cause the rope-driven manipulator to vibrate and positioning error. Therefore, y1(t) is taken as the input function of the second convolution operation, and the second convolution operation is performed. The second convolution operator is shown in equation (13):

[0059]

[0060] The output function of the second convolution operation is:

[0061]

[0062] t j = a max / j max (15)

[0063] By controlling the acceleration and jerk in the continuous quadratic convolution operation, reference Figure 2 b smoothly connects the static state, acceleration state, uniform speed state, and deceleration state. The acceleration and deceleration state both contain the uniform motion state and the uniform acceleration motion state. According to the actual operation of the rope-driven manipulator and the above convolution operation process, the recursive expression of the convolution dynamic jerk planning method is derived as shown in equation (16):

[0064]

[0065] By controlling the acceleration and jerk in the continuous quadratic convolution operation, reference Figure 2 a and Figure 2b, In this embodiment, the jerk is dynamically set to make the acceleration smooth, reduce the acceleration impact, ensure the stable movement of the rope-driven rope-driven robot arm, and improve the positioning accuracy of the rope-driven robot arm. The discontinuity and impact of the rope-driven robot arm speed in the intermittent control process are solved. At the same time, the convolution calculation method is used to simplify the calculation and improve the operation efficiency.

[0066] Reference Figure 3 a, Figure 3 b, Figure 3 c and Figure 3 d, this embodiment is based on the size of the expected rope displacement and the different motion states, and the expected rope displacement is divided into super-long displacement, long displacement, medium displacement and short displacement; the super-long displacement has a first acceleration motion region D I , a second deceleration motion region D II and two intermediate motion regions; the long displacement has a first acceleration motion region D I , a second deceleration motion region D II and an intermediate motion region; the medium displacement only has a first acceleration motion region D I and a second deceleration motion region D II ; the short displacement only has a D Ia region and a D IIa region; the displacement is represented by the area of the speed-time curve, and the slope represents the acceleration; the first acceleration motion region D I includes: variable acceleration acceleration motion, uniform acceleration motion and variable acceleration deceleration motion; the second deceleration motion region D II includes: deceleration motion with increasing acceleration, uniform y I (t) deceleration motion and deceleration motion with decreasing acceleration; deceleration motion with decreasing acceleration, uniform deceleration motion and deceleration motion with increasing acceleration; the intermediate motion region includes: uniform motion; D Ia The acceleration region includes: variable acceleration acceleration motion, uniform acceleration motion; D IIa The deceleration region includes: deceleration motion with increasing acceleration, uniform deceleration motion.

[0067] Reference Figure 3 a, Figure 3 b, Figure 3 c and Figure 3 d, in the embodiment, the expected end displacement D of the rope-driven robot arm is large or small, so the rope displacement is different, and the acceleration and deceleration stages are not necessarily symmetrical. In view of the uncertainty of the rope displacement and the asymmetry of the acceleration and deceleration stages, the quadratic convolution operation result in the degree curve is divided into two equal parts with the quadratic convolution uniform speed result in the y II (t) speed curve, and then combined into a new asymmetric speed curve. The curve is more suitable for general cases and has more universality.

[0068] Reference Figure 3 a, in this embodiment, the combination process is explained.t aI is y I (t) the time of the first convolution operation in the y jI is y I (t) the time of the second convolution operation in the y

[0069] t aI = v max / a max (17)

[0070] t jI = a max / j max (18)

[0071] t aII is y II (t) the time of the first convolution operation in the y jII is y II (t) the time of the second convolution operation in the y

[0072] t aII = K a v max / a max (19)

[0073] t jII = K j a max / (K a j max ) (20)

[0074] (1) super long displacement case

[0075] Reference Figure 3 a, Figure 3 b, Figure 3 c and Figure 3 d, according to the size of the expected displacement D of the rope, the displacement case is divided into four cases of super long displacement, long displacement, medium displacement and short displacement.

[0076] Reference Figure 3 a, when the expected displacement of the rope satisfies the condition D>2max(D I ,D II ), the y I (t) velocity curve and the y II (t) velocity curve both have a uniform motion stage. The y I (t) velocity curve and the y II (t) velocity curve are equally divided in the middle, and then recombined. The y I (t) velocity curve and the y II(t) the middle equal time of the velocity curve is t I and t II :

[0077]

[0078]

[0079] The combined output function is:

[0080]

[0081] t T = t II -t I (24)

[0082] (2) Long displacement case

[0083] Referring to Figure 3 b, when the expected displacement of the rope satisfies D I +D II <D≤2max(D I ,D II ), the y I (t) velocity curve and the y II (t) velocity curve only have one uniform motion stage. t I and t II can be expressed as:

[0084]

[0085] (3) Medium displacement case

[0086] Referring to Figure 3 c, when the expected displacement of the rope satisfies D a <D≤D I +D II , the y I (t) velocity curve and the y II (t) velocity curve both have no uniform motion stage. The area of the D a region can be expressed as:

[0087]

[0088]

[0089] t I and t II can be expressed as:

[0090]

[0091] (4) Short displacement case

[0092] refer to ​ d, when the desired displacement of the rope satisfies 0 <D≤D a In this case, y I (t) velocity curve and y II (t) The velocity curves do not show a uniform acceleration phase. The desired displacement D here can be expressed as:

[0093]

[0094]

[0095]

[0096] t I and t II It can be represented as:

[0097]

[0098] The above examples illustrate the specific applications of the convolutional dynamic acceleration planning method in four scenarios: ultra-long displacement, long displacement, medium displacement, and short displacement. It is not only applicable to situations where acceleration and deceleration phases are asymmetrical, but also allows for flexible adjustment of the magnitude of acceleration and jerk to adapt to different needs.

[0099] This invention relates to a convolutional dynamic acceleration planning method and system for a rope-driven robotic arm, along with a computer storage medium. By dynamically setting the accelerator, acceleration is made smoother, acceleration impact is reduced, and stable movement of the rope-driven robotic arm is ensured, thus improving the positioning accuracy of the robotic arm. It solves the problems of discontinuity and impact in the intermittent speed control process of rope-driven robotic arms. Simultaneously, by utilizing convolutional calculation methods, the calculation is simplified, improving operational efficiency.

[0100] Based on the above method, the present invention also provides a convolutional dynamic acceleration planning system for a cable-driven robotic arm, comprising:

[0101] The input unit is used to input the desired end displacement and time in the task space of the cable-driven robotic arm;

[0102] The displacement conversion unit is used to convert the desired end displacement in the task space of the rope-driven robotic arm into the joint angle change in the joint space, and then convert the joint angle change in the joint space into the desired rope displacement in the rope space of the rope-driven robotic arm.

[0103] The displacement classification unit is used to classify the four possible scenarios of the desired rope displacement of the rope-driven robotic arm.

[0104] The displacement selection unit is used to determine and select the displacement condition to which the desired rope displacement of the rope-driven robotic arm belongs.

[0105] A convolutional dynamic jerk planning unit plans the expected rope displacement into a jerk-adjustable velocity and acceleration curve according to the selected displacement condition, for the rope-driven manipulator to move;

[0106] An output unit outputs the planned velocity and acceleration curve to the rope-driven manipulator.

[0107] The specific working process of the convolutional dynamic jerk planning system of the rope-driven manipulator can refer to the description of the convolutional dynamic jerk planning method of the rope-driven manipulator, which will not be repeated here.

[0108] In addition, the application also provides a computer storage medium, which stores a computer program, and the program is executed by a processor to realize the following steps:

[0109] Input the expected end displacement and time of the rope-driven manipulator in the task space;

[0110] Convert the expected end displacement of the rope-driven manipulator in the task space into the joint angle change in the joint space, and then convert the joint angle change in the joint space into the expected rope displacement in the rope space of the rope-driven manipulator;

[0111] Divide four displacement conditions that may occur in the expected rope displacement of the rope-driven manipulator;

[0112] Judge and select the displacement condition to which the expected rope displacement of the rope-driven manipulator belongs;

[0113] According to the selected displacement condition, the expected rope displacement is planned into a jerk-adjustable velocity and acceleration curve, which is output to the rope-driven manipulator.

[0114] The working process of the computer program stored on the computer storage medium can refer to the specific description of the convolutional dynamic jerk planning method of the rope-driven manipulator, which will not be repeated here.

[0115] The application is a convolutional dynamic jerk planning method and system of a rope-driven manipulator, and a computer storage medium. By dynamically setting the jerk, the acceleration is smooth, the acceleration impact is reduced, the stable movement of the rope-driven manipulator is ensured, and the positioning accuracy of the rope-driven manipulator is improved. The discontinuity and impact problem of the rope-driven manipulator speed in the intermittent control process is solved. At the same time, the convolution calculation method is used to simplify the calculation and improve the operation efficiency. The method of the application is applicable to the rope-driven manipulator and other various rope-driven manipulator configurations in different speed environments.

[0116] The above is a specific description of the preferred embodiment of the application, but the application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A method for planning convolutional dynamic jerk of a rope-driven robotic arm, characterized in that, Includes the following steps: Based on the desired displacement of the rope, the rope acceleration and velocity of the rope-driven robotic arm are planned using a quadratic continuous convolution method; The desired displacement of the rope is calculated by the robot's forward and inverse kinematics. The desired end displacement of the rope-driven manipulator in the task space is converted into the joint angle variable in the joint space using the robot's inverse kinematics method. The joint angle variable in the joint space of the rope-driven manipulator is converted into the rope displacement in the rope space using the robot's forward kinematics method. Based on the different magnitudes and motion states of the desired rope displacement, the desired rope displacement is divided into ultra-long displacement, long displacement, medium displacement, and short displacement; the ultra-long displacement has a first acceleration motion region D. I Second deceleration region D II And two intermediate motion regions; the long displacement has a first acceleration motion region D I Second deceleration region D II And an intermediate motion region; the intermediate displacement is only the first acceleration motion region D. I Second deceleration region D II Short displacement only D Ia Region and D IIa Region; the region of motion is represented by the area of ​​the velocity-time curve, which indicates displacement, and the slope indicates acceleration. The displacement is selected based on the desired rope displacement of the rope-driven robotic arm; the magnitude of the rope jerk is dynamically set; and the desired rope acceleration and velocity are planned using a quadratic continuous convolution method. The motion process of quadratic continuous convolution programming includes: uniformly accelerated motion, uniformly decelerated motion, uniform motion, accelerated motion with variable acceleration, and decelerated motion. The double convolution consists of two operations: a first convolution operation and a second convolution operation. The first convolution operation, based on the given desired rope displacement and time, allows for the free setting of the magnitude of acceleration, and plans the velocity and acceleration curves for uniform motion, uniform acceleration, and uniform deceleration. This curve is a trapezoidal velocity curve. The second convolution operation, based on the first convolution operation, allows for the free setting of the magnitude of jerk, and plans the velocity and acceleration curves for uniform acceleration, uniform deceleration, uniform motion, and accelerated and decelerated motion with variable acceleration. This curve is an S-shaped velocity curve.

2. The method for planning convolutional dynamic jerk of a rope-driven robotic arm according to claim 1, characterized in that, The motion region in the four displacement cases of ultra-long displacement, long displacement, medium displacement, and short displacement is represented by the area of ​​the velocity-time curve, and the slope represents the acceleration. First acceleration zone D I Includes: variable acceleration acceleration motion, uniform acceleration motion, and variable acceleration deceleration motion; second deceleration motion region D II Including: deceleration with increasing acceleration, uniform deceleration, and deceleration with decreasing acceleration; deceleration with decreasing acceleration, uniform deceleration, and deceleration with increasing acceleration; the intermediate motion region includes: uniform motion; D Ia The acceleration region includes: variable acceleration motion and uniform acceleration motion; D IIa The deceleration region includes: deceleration motion with increasing acceleration and uniform deceleration motion; the convolutional dynamic acceleration planning method of the rope-driven robotic arm calculates the desired rope displacement and determines the displacement state to which the desired rope displacement belongs; different calculation methods are used for different displacement regions to plan different velocity and acceleration curves.

3. The method for planning convolutional dynamic jerk of a cable-driven robotic arm according to claim 1, characterized in that, The double convolution consists of a first convolution operation and a second convolution operation. The first convolution operation uses the initial velocity curve as the input function and the reciprocal of the desired acceleration time as the operator. After the convolution operation, a trapezoidal velocity curve and its acceleration curve are obtained. The trapezoidal velocity curve is then used as the input function for the second convolution operation. The value of the jerk is set, and the reciprocal of the desired jerk time is used as the operator for the second convolution operation. After the convolution operation, an S-shaped velocity curve and its acceleration curve are obtained.

4. A convolutional dynamic accelerometer planning system for a cable-driven robotic arm, used to execute the convolutional dynamic accelerometer planning method for a cable-driven robotic arm as described in any one of claims 1-3, characterized in that, include: The input unit is used to input the desired end displacement and time in the task space of the cable-driven robotic arm; The displacement conversion unit is used to convert the desired end displacement in the task space of the rope-driven robotic arm into the joint angle change in the joint space, and then convert the joint angle change in the joint space into the desired rope displacement in the rope space of the rope-driven robotic arm. The displacement classification unit is used to classify the four possible scenarios of the desired rope displacement of the rope-driven robotic arm. The displacement selection unit is used to determine and select the displacement condition to which the desired rope displacement of the rope-driven robotic arm belongs. The convolutional dynamic acceleration planning unit plans the desired rope displacement into an adjustable velocity and acceleration curve based on the selected displacement, which is used for the rope-driven robotic arm to perform motion. The output unit is used to output the planned velocity and acceleration curves to the cable-driven robotic arm.

5. The convolutional dynamic acceleration planning system for a cable-driven robotic arm according to claim 4, characterized in that, Speed ​​and acceleration planning for a rope-driven robotic arm is achieved through a double convolution method.

6. A computer storage medium, characterized in that, It stores a computer program, which, when executed by a processor, implements a method for planning convolutional dynamic jerk of a rope-driven robotic arm as described in any one of claims 1-3.

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