Trajectory planning method and device and computer readable storage medium

Abstract

The application discloses a trajectory planning method, device and computer readable storage medium. The trajectory planning method comprises the following steps: planning a target trajectory at an initial interpolation time point to obtain a first axis position of a robot at each interpolation time point; performing forward kinematics calculation on the first axis position of the target interpolation time point to obtain a first Cartesian position; acquiring a position transformation matrix of a target conveying belt from the initial interpolation time point to the target interpolation time point, wherein the position transformation matrix represents the rotation of the target conveying belt from the initial interpolation time point to the target interpolation time point; obtaining a second Cartesian position according to the first Cartesian position and the position transformation matrix; performing inverse kinematics calculation on the second Cartesian position to obtain a second axis position; and determining the second axis position as a final axis position of the target interpolation time point. The method provided by the application can realize the synchronous motion of the robot and the target conveying belt.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a trajectory planning method and device and a computer readable storage medium. BACKGROUND

[0002] A SCARA robot is a robot arm applied to assembly work, and is most suitable for planar positioning. In the application scenarios of the SCARA robot, there is a large category of application scenarios of grabbing a target and placing a target, and the trajectory of this application scenario is simple, and most of the trajectories are door-shaped trajectories. The door-shaped trajectory refers to a trajectory in which the robot first vertically rises, then horizontally moves, and finally vertically descends.

[0003] In the prior art, PTP language is usually used to control the SCARA robot to walk the door-shaped trajectory, but the use of PTP language to control the SCARA robot to walk the door-shaped trajectory is based on the axis space, while the research on the conveyor belt following is based on the Cartesian space, so it is currently difficult to combine the use of PTP language to control the SCARA robot to walk the door-shaped trajectory with the conveyor belt following technology. SUMMARY

[0004] The present application provides a trajectory planning method, device and computer readable storage medium, which can realize the same motion of the axis space trajectory in the Cartesian space and the conveyor belt.

[0005] The first aspect of the embodiment of the present application provides a trajectory planning method, which comprises: planning a target trajectory at an initial interpolation time to obtain a first axis position of a robot at each interpolation time; performing robot forward solution operation on the first axis position of a target interpolation time to obtain a first Cartesian position; obtaining a position transformation matrix of a target conveyor belt from the initial interpolation time to the target interpolation time, wherein the position transformation matrix represents the rotation of the target conveyor belt from the initial interpolation time to the target interpolation time; obtaining a second Cartesian position according to the first Cartesian position and the position transformation matrix; performing robot inverse solution operation on the second Cartesian position to obtain a second axis position; and determining the second axis position as the final axis position of the target interpolation time.

[0006] The second aspect of the embodiment of the present application provides a trajectory planning device, the trajectory planning device comprises: a planning module, configured to plan a target trajectory at an initial interpolation time, and obtain a first axis position of a robot at each interpolation time; a forward solution module, connected with the planning module, configured to perform robot forward solution operation on the first axis position of a target interpolation time, and obtain a first Cartesian position; an acquisition module, connected with the forward solution module, configured to acquire a position transformation matrix of a target conveyor from the initial interpolation time to the target interpolation time, wherein the position transformation matrix represents rotation of the target conveyor from the initial interpolation time to the target interpolation time; a transformation module, connected with the acquisition module, configured to obtain a second Cartesian position according to the first Cartesian position and the position transformation matrix; an inverse solution module, connected with the transformation module, configured to perform robot inverse solution operation on the second Cartesian position, and obtain a second axis position; and a determination module, connected with the inverse solution module, configured to determine the second axis position as a final axis position of the target interpolation time.

[0007] The third aspect of the embodiment of the present application provides a trajectory planning device, the trajectory planning device comprises a processor, a memory and a communication circuit, the processor is respectively coupled with the memory and the communication circuit, the memory stores program data, and the processor performs the program data in the memory to realize the steps in the above method.

[0008] The fourth aspect of the embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program can be executed by a processor to realize the steps in the above method.

[0009] The beneficial effect is that the trajectory planning process is divided into three stages, the first stage is to perform robot forward solution operation on the axis position, the second stage is to transform the result of the forward solution operation, and the third stage is to perform robot inverse solution operation on the transformed result, so that the synchronous motion of the axis space and the Cartesian space can be realized, and the robot and the target conveyor can be moved synchronously. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0011] Figure 1 is a structural schematic diagram of a door-shaped trajectory of the present application;

[0012] Figure 2is a flowchart of a process of determining a target trajectory;

[0013] Figure 3 is a flowchart of an embodiment of a trajectory planning method of the present application;

[0014] Figure 4 is a structural diagram of an embodiment of a trajectory planning device of the present application;

[0015] Figure 5 is a structural diagram of another embodiment of a trajectory planning device of the present application;

[0016] Figure 6 is a structural diagram of an embodiment of a computer readable storage medium of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0018] It should be noted that the terms "first", "second" in the present application are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0019] First of all, it should be noted that the robot involved in the present application can be any type of robot, such as a 6-axis robot, a 4-axis robot, but for the sake of convenience, the following will take the robot as a SCARA robot as an example for introduction, wherein the SCARA robot has 4 axes, wherein the 1st axis, the 2nd axis and the 4th axis are all rotary axes, and the 3rd axis is a linear axis, so the position of the SCARA robot in the Z direction of the Cartesian space is only related to the 3rd axis.

[0020] One of the purposes of the present application is to make the SCARA robot run the door-shaped trajectory as shown in Figure 1 Firstly, the Figure 1The door-shaped trajectory is split into several small trajectories as shown:

[0021] First segment: 3-axis moves upward from point A to point B by a first moving distance a, in which process, 1-axis, 2-axis and 4-axis remain stationary;

[0022] Second segment: 1-axis, 2-axis and 4-axis start to move, and 3-axis starts to decelerate;

[0023] Third segment: 3-axis reaches the maximum lifting height LimZ and stops, and 1-axis, 2-axis and 4-axis continue to move;

[0024] Fourth segment: 3-axis starts to move downward, and 1-axis, 2-axis and 4-axis decelerate;

[0025] Fifth segment: 3-axis moves to point C, and 1-axis, 2-axis and 4-axis stop moving;

[0026] Sixth segment: 3-axis moves to point D by a second moving distance b.

[0027] As can be seen from the above, 1-axis, 2-axis and 4-axis move synchronously, so 1-axis, 2-axis and 4-axis can be regarded as a whole, and 1-axis, 2-axis and 4-axis are all referred to as rotating axes, while 3-axis is referred to as a linear axis.

[0028] In combination with Figure 2 , in order to enable the robot to walk the door-shaped trajectory, the application determines the robot travel door-shaped trajectory according to the following method:

[0029] S110: Obtain the movement starting point and the movement ending point of the rotating axis and the movement starting point and the movement ending point of the linear axis.

[0030] S120: Obtain the preset maximum lifting height LimZ of the linear axis, the first moving distance a of the linear axis when moving to the starting time point of the rotating axis, and the second moving distance b of the linear axis from the movement ending point of the linear axis when moving to the stopping time point of the rotating axis, wherein a≤LimZ and b≤LimZ.

[0031] S130: Calculate the movement duration T1 of the rotating axis from the movement starting point to the movement ending point, calculate the duration T2a of the linear axis moving to the maximum lifting height LimZ, calculate the duration T2b of the linear axis moving from the maximum lifting height LimZ to the movement ending point of the linear axis, calculate the movement duration Ta of the linear axis moving the first moving distance a, and calculate the movement duration Tb of the linear axis moving the second moving distance b.

[0032] Specifically, the start and end points of the 1-axis are respectively denoted as J1s and J1e; the start and end points of the 2-axis are respectively denoted as J2s and J2e; the start and end points of the 3-axis are respectively denoted as J3s and J3e; and the start and end points of the 4-axis are respectively denoted as J4s and J4e. Meanwhile, J1s, J1e, J2s, J2e, J3s, J3e, J4s, J4e, the first moving distance a, the second moving distance b, and the maximum lifting height LimZ are all known.

[0033] First, the speed planning is performed according to the known parameters, and the displacement time length T1 of the 1-axis, the 2-axis, and the 4-axis, i.e., the time length for the 1-axis, the 2-axis, and the 4-axis to move from the point B to the point C, can be obtained, and the time length T2a for the 3-axis to move to the maximum lifting height LimZ, i.e., the time length for the 3-axis to move from the point A to the maximum lifting height LimZ, can also be obtained; the time length T2b for the 3-axis to move from the maximum lifting height LimZ to the movement end point of the 3-axis, i.e., the time length for the 3-axis to move from the maximum lifting height LimZ to the point D, is calculated; the time length Ta for the 3-axis to move in the first moving distance a, i.e., the time length for the 3-axis to move from the point A to the point B, is calculated; and the time length Tb for the 3-axis to move in the second moving distance b, i.e., the time length for the 3-axis to move from the point C to the point D, is calculated.

[0034] In S140, the difference between the time length T2a and the time length Ta is calculated to obtain the time length T3a, and the difference between the time length T2b and the time length Tb is calculated to obtain the time length T3b.

[0035] Specifically, since the time length T2a is the time length for the 3-axis to move from the point A to the maximum lifting height LimZ, and the time length Ta is the time length for the 3-axis to move from the point A to the point B, the difference between the time length T2a and the time length Ta, i.e., the time length for the 3-axis to move from the point B to the maximum lifting height LimZ, is denoted as the time length T3a. Similarly, since the time length T2b is the time length for the 3-axis to move from the maximum lifting height LimZ to the point D, and the time length Tb is the time length for the 3-axis to move from the point C to the point D, the difference between the time length T2b and the time length Tb, i.e., the time length for the 3-axis to move from the maximum lifting height LimZ to the point C, is denoted as the time length T3b.

[0036] In S150, it is determined whether the sum of the time length T3a and the time length T3b is less than or equal to the time length T1.

[0037] If the determination result is yes, step S160 is performed, and if the determination result is no, step S170 is performed.

[0038] In S160, the static time of the robot after reaching the maximum lifting height LimZ is determined, and the robot forms a target trajectory according to the maximum lifting height LimZ, the first moving distance a, the second moving distance b, and the static time.

[0039] In S170, the value of the maximum lifting height LimZ is modified.

[0040] After step S170, return to execute step S130.

[0041] Specifically, in the process of 1-axis, 2-axis and 4-axis moving from B point to C point, there are two movement stages of 3-axis, which are 3-axis moving from B point to maximum lifting height LimZ (in this stage, 3-axis starts to decelerate from B point, and when reaching maximum lifting height LimZ, 3-axis is static), and 3-axis moving from maximum lifting height LimZ to C point (in this stage, 3-axis starts to accelerate from static), and the time lengths corresponding to the two movement stages are time length T3a and time length T3b respectively.

[0042] Wherein, in order to optimize the movement cycle of the robot, the 3-axis is arranged to complete deceleration and acceleration movement in the movement process of 1-axis, 2-axis and 4-axis, that is, the sum of 3-axis deceleration time length and acceleration time length is ensured not to exceed the movement time length of 1-axis, 2-axis and 4-axis. When it is detected that the sum of 3-axis deceleration time length and acceleration time length exceeds 1-axis, 2-axis and 4-axis, the maximum lifting height LimZ is then modified, and then step S130 is executed until the sum of 3-axis deceleration time length and acceleration time length does not exceed the movement time length of 1-axis, 2-axis and 4-axis.

[0043] Wherein, the value of maximum lifting height LimZ can be modified by various methods, and two methods are introduced as follows:

[0044] The first method: according to the binary search algorithm, a target value is determined in the range of candidate values of maximum lifting height LimZ, and time length T3a, time length T3b and time length T1 are recalculated according to the target value. It is judged whether the sum of recalculated time length T3a and time length T3b is less than or equal to time length T1. If the sum of T3a and T3b is still greater than T1, a new target value is determined again in the range of candidate values according to the binary search algorithm, and the cycle is repeated until the determined target value can make the sum of time length T3a and time length T3b less than or equal to time length T1.

[0045] The second method: the range of candidate values of maximum lifting height LimZ is equally divided into n parts to obtain n candidate values, and a target value is determined in the n candidate values. Time length T3a, time length T3b and time length T1 are recalculated according to the target value. It is judged whether the sum of recalculated time length T3a and time length T3b is less than or equal to time length T1. If the sum of T3a and T3b is still greater than T1, a new target value is determined again in the n candidate values, and the cycle is repeated until the determined target value can make the sum of time length T3a and time length T3b less than or equal to time length T1.

[0046] Wherein, the alternative value range of the maximum lifting height LimZ can be set by the user, as long as the value in the alternative value range is greater than or equal to the first movement distance a and the second movement distance b of the straight shaft, that is, LimZ≥a, LimZ≥b.

[0047] Wherein, since the 1-axis, the 2-axis and the 4-axis are taken as a whole and the 3-axis is taken as a whole when planning the above-mentioned door-shaped trajectory, the axis position of the robot at each interpolation time is obtained when planning the above-mentioned door-shaped trajectory, that is, the trajectory planning is based on the axis space.

[0048] And when the robot needs to keep synchronization with the moving target conveyor belt, the position of the target conveyor belt is based on the Cartesian space, so in order to make the robot move synchronously with the moving target conveyor belt when the trajectory of the robot is the above-mentioned door-shaped trajectory, referring to Figure 3 The method of the present application further comprises:

[0049] S210: planning the target trajectory at the initial interpolation time to obtain the first axis position of the robot at each interpolation time.

[0050] First of all, it needs to be pointed out that the trajectory planning method of the present application can not only be applied to the above-mentioned door-shaped trajectory, but also can be applied to any other type of trajectory.

[0051] At the initial interpolation time, the target trajectory is planned in the axis space to obtain the axis position of the robot at each interpolation time, wherein the axis position here is defined as the first axis position.

[0052] Wherein, the axis position of the robot at the interpolation time includes the axis position of each joint axis of the robot at the interpolation time.

[0053] S220: performing robot forward kinematics operation on the first axis position of the target interpolation time to obtain the first Cartesian position.

[0054] Specifically, steps S220 to S260 are performed for each interpolation time, but here any interpolation time is taken as the target interpolation time, and the next steps are described in detail taking the target interpolation time as an example:

[0055] Wherein, the specific process of performing robot forward kinematics operation on the first axis position of the target interpolation time belongs to the prior art and is not described in detail here. After performing robot forward kinematics operation on the first axis position of the target interpolation time, the obtained position is the coordinate in the Cartesian space, wherein the position is denoted as the first Cartesian position Pc.

[0056] S230: Obtain a position transformation matrix of the target conveying belt from the initial interpolation time to the target interpolation time, wherein the position transformation matrix represents a rotation of the target conveying belt from the initial interpolation time to the target interpolation time.

[0057] Specifically, the position transformation matrix represents the rotation of the target conveying belt from the initial interpolation time to the target interpolation time, and in order to synchronize the movement of the robot with the target conveying belt, the first Cartesian position Pc needs to be transformed.

[0058] The position of the target conveying belt at any time can be determined by detecting the rotation angle of the target conveying belt. That is, the position transformation matrix of the target conveying belt from the initial interpolation time to the target interpolation time can be determined by obtaining the rotation angle of the target conveying belt. For example, in an application scenario, the initial position of the target conveying belt at the initial interpolation time is obtained, and according to the rotation angle of the target conveying belt from the initial interpolation time to the target interpolation time, the target position of the target conveying belt at the target interpolation time can be determined, and according to the target position and the initial position, the position transformation matrix of the target conveying belt from the initial interpolation time to the target interpolation time can be determined. For another example, in another application scenario, the initial position of the target conveying belt at the initial time (which is earlier than the initial interpolation time) is obtained, and according to the rotation angle of the target conveying belt from the initial time to the initial interpolation time, the first target position of the target conveying belt at the initial interpolation time can be determined, and according to the rotation angle of the target conveying belt from the initial time to the target interpolation time, the second target position of the target conveying belt at the target interpolation time can be determined, and finally according to the first target position and the second target position, the position transformation matrix of the target conveying belt from the initial interpolation time to the target interpolation time can be determined.

[0059] S240: Obtain the second Cartesian position according to the first Cartesian position and the position transformation matrix.

[0060] Specifically, let the second Cartesian position be Pd, then Pd = T x Pc, wherein T is the position transformation matrix determined in step S230.

[0061] S250: Perform robot inverse solution operation on the second Cartesian position to obtain the second axis position.

[0062] Specifically, the process of performing robot inverse solution operation is the opposite process of performing robot forward solution operation, which belongs to the prior art and will not be described in detail here.

[0063] S260: Determine the second axis position as the final axis position at the target interpolation time.

[0064] Specifically, if the robot needs to keep synchronization with the stationary target conveyor belt, the first axis position is the position of the robot in the axis space at the target interpolation time, that is, the first Cartesian position is the position of the robot in the Cartesian space at the target interpolation time, but in order to keep synchronization with the moving target conveyor belt, the interpolation point corresponding to the target interpolation time needs to make the same movement as the target conveyor belt, so the position transformation matrix is used to calculate the position of the interpolation point corresponding to the target interpolation time after the synchronization movement with the target conveyor belt, that is, the second Cartesian position, and finally the second Cartesian position is converted into the axis space to obtain the second axis position, and finally when the target interpolation time is reached, the robot is driven to move according to the second axis position, realizing the synchronization movement of the robot and the target conveyor belt.

[0065] From the above, it can be seen that the process of the present application can be divided into three stages, the first stage is to perform robot forward solution operation on the axis position, the second stage is to transform the result of the forward solution operation, and the third stage is to perform robot inverse solution operation on the transformed result, so as to realize the synchronization movement of the axis space and the Cartesian space.

[0066] Referring to Figure 4 , Figure 4 is a structural schematic diagram of an embodiment of the trajectory planning device of the present application. The trajectory planning device 200 includes a processor 210, a memory 220 and a communication circuit 230. The processor 210 is coupled to the memory 220 and the communication circuit 230 respectively. The memory 220 stores program data. The processor 210 realizes the steps in the method of any of the above embodiments by executing the program data in the memory 220. The detailed steps can be referred to in the above embodiments and will not be described here.

[0067] The trajectory planning device 200 can be a computer, a robot control cabinet or a robot, etc. Any device with algorithm processing capability is not limited here.

[0068] Referring to Figure 5 , Figure 5 is a structural schematic diagram of another embodiment of the trajectory planning device of the present application. The trajectory planning device 300 includes a planning module 310, a forward solution module 320, an acquisition module 330, a transformation module 340, an inverse solution module 350 and a determination module 360 connected in sequence.

[0069] The planning module 310 is used to plan the target trajectory at the initial interpolation time to obtain the first axis position of the robot at each interpolation time.

[0070] The forward solution module 320 is used to perform robot forward solution operation on the first axis position of the target interpolation time to obtain the first Cartesian position.

[0071] The acquisition module 330 is configured to acquire a position transformation matrix of the target conveying belt from the initial interpolation time to the target interpolation time, where the position transformation matrix represents rotation of the target conveying belt from the initial interpolation time to the target interpolation time.

[0072] The transformation module 340 is configured to obtain the second Cartesian position according to the first Cartesian position and the position transformation matrix.

[0073] The inverse solution module 350 is configured to perform robot inverse solution operation on the second Cartesian position to obtain the second axis position.

[0074] The determination module 360 is configured to determine the second axis position as the final axis position at the target interpolation time.

[0075] The trajectory planning device 300 can be any device with algorithm processing capability, such as a computer, a robot control cabinet or a robot, and is not limited herein.

[0076] The trajectory planning device 300 performs the method steps in any of the above embodiments when working, and the detailed method steps can be referred to the above related content, which will not be repeated here.

[0077] Referring to Figure 6 , Figure 6 is a structural schematic diagram of an embodiment of the computer readable storage medium of the present application. The computer readable storage medium 400 stores a computer program 410, and the computer program 410 can be executed by a processor to implement the steps in any of the above methods.

[0078] The computer readable storage medium 400 can be a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or any device that can store the computer program 410, or a server that stores the computer program 410, which can send the stored computer program 410 to other devices for running, or can run the stored computer program 410 itself.

[0079] The above is only an embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A trajectory planning method characterized by, The method comprises: planning a target trajectory at an initial interpolation moment to obtain a first axis position of the robot at each interpolation moment; performing forward kinematics calculation on the first axis position of the target interpolation moment to obtain a first Cartesian position; obtaining a position transformation matrix of the target conveyor belt from the initial interpolation moment to the target interpolation moment, wherein the position transformation matrix represents the rotation of the target conveyor belt from the initial interpolation moment to the target interpolation moment; obtaining a second Cartesian position according to the first Cartesian position and the position transformation matrix; performing inverse kinematics calculation on the second Cartesian position to obtain a second axis position; determining the second axis position as the final axis position of the target interpolation moment.

2. The method of claim 1, wherein, The step of obtaining the position transformation matrix of the target conveyor belt from the initial interpolation moment to the target interpolation moment comprises: obtaining a rotation angle of the target conveyor belt from the initial interpolation moment to the target interpolation moment; determining the position transformation matrix according to the rotation angle.

3. The method of claim 1, wherein, The target trajectory is a door-shaped trajectory.

4. The method of claim 3, wherein, The robot comprises a rotating shaft and a linear shaft, and before the step of planning a target trajectory at an initial interpolation moment to obtain a first axis position of the robot at each interpolation moment, the method further comprises: obtaining a motion starting point and a motion ending point of the rotating shaft and a motion starting point and a motion ending point of the linear shaft; obtaining a preset maximum lifting height LimZ of the linear shaft, a first movement distance a of the linear shaft when moving to a starting time point of the rotating shaft, and a second movement distance b of the linear shaft from the motion ending point when moving to a stopping time point of the rotating shaft, wherein a≤LimZ and b≤LimZ; calculating a motion duration T1 of the rotating shaft from the motion starting point to the motion ending point, calculating a motion duration T2a of the linear shaft moving to the maximum lifting height LimZ, calculating a motion duration T2b of the linear shaft moving from the maximum lifting height LimZ to the motion ending point of the linear shaft, calculating a motion duration Ta of the linear shaft moving the first movement distance a, and calculating a motion duration Tb of the linear shaft moving the second movement distance b; calculating a difference value of the duration T2a minus the duration Ta to obtain a duration T3a, and calculating a difference value of the duration T2b minus the duration Tb to obtain a duration T3b; determining whether the sum of the duration T3a and the duration T3b is less than or equal to the duration T1; if yes, determining a stationary time of the robot after reaching the maximum lifting height LimZ, and determining the target trajectory according to the maximum lifting height LimZ, the first movement distance a, the second movement distance b, and the stationary time; if no, modifying the value of the maximum lifting height LimZ so that the sum of the duration T3a and the duration T3b is less than or equal to the duration T1.

5. The method of claim 4, wherein, The modification of the value of the maximum lifting height LimZ comprises: The target value is determined in the range of the candidate values of the maximum lifting height LimZ according to a dichotomy algorithm, and the determined target value makes the sum of the time length T3a and the time length T3b less than or equal to the time length T1.

6. The method of claim 4, wherein, The value of the maximum lifting height LimZ is modified, including: The range of the candidate values of the maximum lifting height LimZ is divided into n parts to obtain n candidate values, and a target value is determined in the n candidate values, and the determined target value makes the sum of the time length T3a and the time length T3b less than or equal to the time length T1, wherein n is a positive integer greater than 1.

7. The method according to any one of claims 1 to 6, characterized in that, The robot is an SCARA robot, and the number of the rotation axes is three.

8. A trajectory planning device characterized by comprising: The trajectory planning device includes: A planning module is configured to plan a target trajectory at an initial interpolation time to obtain a first axis position of the robot at each interpolation time. A forward solution module is connected with the planning module and configured to perform a forward solution operation on the first axis position at a target interpolation time to obtain a first Cartesian position. An acquisition module is connected with the forward solution module and configured to acquire a position transformation matrix of a target conveying belt from the initial interpolation time to the target interpolation time, wherein the position transformation matrix represents a rotation of the target conveying belt from the initial interpolation time to the target interpolation time. A transformation module is connected with the acquisition module and configured to obtain a second Cartesian position according to the first Cartesian position and the position transformation matrix. An inverse solution module is connected with the transformation module and configured to perform an inverse solution operation on the second Cartesian position to obtain a second axis position. A determination module is connected with the inverse solution module and configured to determine the second axis position as a final axis position at the target interpolation time.

9. A trajectory planning device characterized by comprising: The trajectory planning device includes a processor, a memory, and a communication circuit, the processor is coupled with the memory and the communication circuit respectively, the memory stores program data, and the processor performs the program data in the memory to realize the steps in the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program can be executed by the processor to realize the steps in the method of any one of claims 1-7.

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