A trajectory checking planning method for a driver layer security boundary

Abstract

The present application belongs to the field of robot technology and driver, and specifically relates to a trajectory checking planning method for a safety boundary of a driver layer, which comprises the following steps: 1) position and acceleration constraint setting; 2) the driver checks the current mechanical arm position and speed through a safety boundary triggering function, and evaluates whether the mechanical arm is about to or has exceeded the preset safety boundary; 3) when the safety boundary is triggered, a re-planning stage is entered, and the driver automatically calculates and generates a time-optimal trajectory re-planning strategy by using the position, speed and acceleration information of the current mechanical arm; and 4) the driver adjusts the driver instruction generated according to the re-planning strategy to ensure the safe movement of the mechanical arm. The present application combines the position constraint and the maximum stop acceleration constraint of the driver layer, and effectively deals with the misoperation or unreasonable planning of the upper-layer trajectory planning instruction.

Description

Technical Field

[0001] This invention belongs to the fields of robotics and actuators, specifically a trajectory checking and planning method for safety boundaries of the actuator layer. Background Technology

[0002] In the fields of industrial automation and robotics applications, robotic arms play an indispensable role and are widely used in various tasks such as assembly, handling, and welding. These tasks often require robotic arms to perform precise and efficient movements in complex and changing working environments to ensure accurate task completion. However, robotic arms face a series of challenges when performing these tasks, among which the accuracy of upper-level trajectory planning instructions is crucial to the safety and performance of the robotic arm.

[0003] Faced with complex working environments and potential operator errors, upper-level trajectory planning instructions may be erroneous or inaccurate. For example, inappropriate instructions may cause the movement of the robotic arm joints to exceed the safe range or generate excessive stopping acceleration, leading to a sudden increase in reverse voltage and potential damage to the motor and power supply. Current trajectory checking and planning strategies often resort to sudden deceleration or stopping when a boundary is reached or a problem occurs, resulting in discontinuities in movement speed and acceleration. This may cause positional shocks, and excessive deceleration can adversely affect the motor.

[0004] The key feature of this technology lies in its ability to anticipate and predict boundary triggering conditions. Once a potential triggering boundary is detected, the technology gradually reduces the robotic arm's speed while ensuring continuity of movement speed and acceleration. This avoids positional shocks and reverse voltage spikes, protecting the motor and power supply from potential damage. This strategy not only improves the system's safety and stability but also effectively addresses unpredictable external factors and operational errors, ensuring robust operation of the robotic arm in complex environments. Summary of the Invention

[0005] The purpose of this invention is to provide a trajectory inspection and planning method for the safety boundary of the actuator layer. This method can not only effectively identify potential safety risks, but also ensure that the robotic arm can perform tasks safely, stably and reliably under various conditions, thereby greatly reducing the risk caused by accidents.

[0006] The technical solution adopted by this invention to achieve the above objectives is: a trajectory checking and planning method oriented towards the safety boundary of the driver layer, comprising the following steps:

[0007] 1) The driver sets motion constraint parameters for the driver layer of the robotic arm;

[0008] 2) The driver checks the current position and speed of the robotic arm through the safety boundary trigger function to assess whether there are potential safety risks in the current motion state, that is, to predict in advance whether the robotic arm is about to exceed the preset safety boundary; if the safety boundary is not triggered, the driver will continue to execute the trajectory planning instructions issued by the host computer; if the safety boundary is triggered, then step 3) is executed.

[0009] 3) When the safety boundary is triggered, the replanning phase begins. The actuator uses the current position, speed and acceleration information of the robotic arm to automatically calculate and generate the time-optimal trajectory replanning strategy to ensure that the robotic arm's acceleration and speed decrease continuously and complete the motion within the constraints, minimizing time and energy consumption.

[0010] 4) The driver will adjust the driver commands generated according to the replanning strategy to ensure the safe movement of the robotic arm.

[0011] Step 1) specifically includes:

[0012] The set motion constraint parameters include: safe position constraint and maximum stopping acceleration constraint;

[0013] Among them, the safe position constraint includes: q max and q min This is used to ensure that the range of motion of the robotic arm's joints and end effector does not exceed safety limits when the robotic arm is performing a task;

[0014] Maximum stopping acceleration constraints include: safe acceleration constraints and jerk constraint j max =j min It is used to limit the maximum acceleration of a robotic arm during emergency stops or deceleration, thereby avoiding uncontrollable movement or damage caused by excessive acceleration.

[0015] The driver checks the current position and speed of the robotic arm in real time through a safety boundary trigger function, including the following steps:

[0016] 1-1) The host computer trajectory planning is a double S-planar programming. Regarding the double S-planar programming:

[0017] Let the current position of the motor be q, and its current speed be... Current acceleration is The servo position r is sent by the host computer along the trajectory, along with motion constraint parameters, the current velocity, and the deceleration time T required to decelerate to zero. d During the deceleration phase, the acceleration j min Constant duration T ja During the deceleration phase, the acceleration j max Constant duration Tjb ;

[0018] 1-2) Establish safety boundary check functions and replanning strategies:

[0019] During the motion, at each command issuance time k, the actuator calculates the current velocity based on the theoretical acceleration curve trend of the Double S trajectory. and acceleration And whether they can ensure that the velocity will not exceed the safety boundary when it is reduced to 0 under the constraints of acceleration and jerk.

[0020] Steps 1-2) are specifically as follows:

[0021] 2-1) Assuming safety acceleration constraints During deceleration, if the maximum deceleration can be achieved, then:

[0022]

[0023] Among them, T ja The acceleration j during the deceleration phase min Constant duration, Let k be the acceleration of the motor at time k. Let T be the speed of the motor at time k. jb The acceleration j during the deceleration phase max A constant duration, a min Minimum acceleration;

[0024] 2-2) If the current speed and acceleration decelerate to 0, the deceleration time T is required. d ≥T ja +T jb If the assumption in step 2-1) holds true, then the displacement h that the current velocity and acceleration decelerate to 0 is... k for:

[0025]

[0026] If the current speed and acceleration decelerate to 0, the deceleration time T required is... d ≤T ja +T jb If the assumption in step 2-1) is not true, then we have:

[0027]

[0028] 2-3) Predict whether the displacement during the deceleration process from the current point will trigger the safety boundary. If q min -q k <h k <q max -qk This means that if the current speed and acceleration are within the constraints of acceleration and jerk, and the speed decreases to 0 without exceeding the safety boundary, the driver will continue to execute the trajectory points sent by the host computer.

[0029] 2-4) If the current speed is reduced to 0, it will exceed the safety boundary. The trajectory points issued by the upper layer will not be executed and the replanning phase will be required.

[0030] Step 3) specifically includes:

[0031] The time-optimal trajectory replanning strategy includes: a replanning strategy based on numerical integration, and a replanning strategy based on the fusion of offline and online trajectories.

[0032] 3-1) Execute the replanning strategy based on numerical integration:

[0033] Considering a scenario where the target value is greater than the current joint angle, the acceleration is followed by deceleration, i.e., for q... target >q k Let's discuss and set initial conditions. Switching state time points Sampling interval Ts, target condition is Transform the problem description into planning a continuous trajectory from initial conditions to target conditions;

[0034] 3-2) Execute the replanning strategy based on offline and online trajectory fusion, and further optimize the replanning strategy based on numerical integration:

[0035] Integral correction and compensation are performed using the offline piecewise function of Double S. At the end of each sampling or control cycle, the offline function is used to correct the integral term, thereby reducing integral error and improving control accuracy.

[0036] Step 3-1) specifically involves:

[0037] Each sampling period k after the start of replanning: when the total planning duration This is the moment when deceleration begins;

[0038] (1) Assuming safety acceleration constraints During deceleration, the maximum deceleration can be achieved as follows:

[0039] (1-1) Case a:

[0040] like For the interval, we have: jerk = j min ;

[0041] (1-2) Case b:

[0042] like For the interval, we have: jerk = 0 for jerk acceleration;

[0043] (1-3) Case c:

[0044] like For the interval, we have: jerk = j max ;

[0045] (2) Assuming safety acceleration constraints During deceleration, if the deceleration does not reach the maximum deceleration:

[0046] (2-1) Case d:

[0047] like Then we have: jerk = j min ;

[0048] (2-2) Case e:

[0049] like Then we have: jerk = j max ;

[0050] (3) Based on the jerk's situation, plan the robot arm motion parameters for the continuous trajectory from the initial conditions to the target conditions, and according to t k =t k By summing up +Ts,k=k+1, we can obtain the acceleration a at time k. k speed v k and position q k ,Right now:

[0051] a k =a k-1 +Ts*jerk

[0052]

[0053]

[0054] The replanning strategy based on offline and online trajectory fusion is executed, and the replanning strategy based on numerical integration is further optimized, specifically as follows:

[0055] Assuming safety acceleration constraints During deceleration, the maximum deceleration can be achieved as follows:

[0056] a. If the integral term is corrected using an offline function for case a, then:

[0057] v lim =max(v0,vmax )

[0058]

[0059]

[0060]

[0061]

[0062] b. If the integral term is corrected using an offline function for case b, then:

[0063] v lim =max(v0,v max )

[0064]

[0065]

[0066]

[0067]

[0068] c. If the integral term is corrected using an offline function for case c, then:

[0069]

[0070]

[0071]

[0072]

[0073] d. Assume safe acceleration constraints During deceleration, if the deceleration does not reach the maximum deceleration:

[0074] If the integral term is corrected using an offline function for case d, then:

[0075] v lim =max(v0,v max )

[0076]

[0077]

[0078]

[0079]

[0080] e. If the integral term is corrected using an offline function for case e, then:

[0081]

[0082]

[0083]

[0084]

[0085] For steps a to e, according to t k =t k Accumulate +Ts,k=k+1, q target <q k Transformed into q through symbol transformation target >q k In the form of [formula], after the calculation is completed, the position, velocity, acceleration, and jerk are obtained by transformation.

[0086] The driver will adjust the driver instructions generated according to the replanning strategy, specifically:

[0087] 4-1) Make real-time adjustments based on the reprogrammed driver instructions to ensure that the robotic arm can move within the safety boundary. If an erroneous instruction is detected and the arm stops within the safety boundary, proceed to steps 4-2) to 4-3).

[0088] 4-2) Establish a simulation experiment: Set the safety boundary to 100°, and issue an erroneous target command of 120° to the trajectory. min = -15° / s 2 Actual driver layer speed constraint v max =20° / s, v min = -20° / s, acceleration constraint a max =15° / s 2 ,a min = -10° / s 2 jerk constraint: 100° / s 3 ;

[0089] 4-3) Complete the simulation experiment and generate the driver instructions.

[0090] The present invention has the following beneficial effects and advantages:

[0091] 1. This invention combines position constraints and maximum stopping acceleration constraints at the driver layer to effectively address misoperation or unreasonable planning of upper-layer trajectory planning instructions.

[0092] 2. This invention can not only effectively identify potential safety risks, but also ensure that the robotic arm can perform tasks safely, stably and reliably under various conditions, thereby greatly reducing the risk caused by accidents.

[0093] 3. This invention focuses on ensuring that the robotic arm can move safely and stably in various working environments, and prevents movement from exceeding the safe range or causing harm due to erroneous instructions. Attached Figure Description

[0094] Figure 1 This is a flowchart of the overall algorithm method of the present invention;

[0095] Figure 2 This is a location curve diagram of the safety boundary trigger of the present invention;

[0096] Figure 3 This is a speed curve diagram of the safety boundary triggering of the present invention;

[0097] Figure 4 This is an acceleration curve triggered by the safety boundary of the present invention;

[0098] Figure 5 This is a graph showing the jerk curve triggered by the safety boundary of this invention. Detailed Implementation

[0099] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0100] This invention focuses on designing a safe boundary trajectory tracking method for the actuator layer, aiming to meet the safe movement requirements of a robotic arm during task execution. This invention pays particular attention to the accuracy of upper-level trajectory planning instructions and potential misoperations, ensuring the robotic arm can move safely and stably in various situations.

[0101] Specifically, this invention proposes a safety boundary check function and a replanning method to address potential erroneous instructions from the upper layer, such as exceeding target point limits, planning speed limits, and acceleration limits. When the upper-layer trajectory planning instruction does not trigger the safety boundary, the driver will execute the instruction to maintain the continuity and efficiency of the robotic arm's movement. However, if the upper-layer instruction triggers the safety boundary, the trajectory tracker will automatically perform time-optimal trajectory replanning to ensure deceleration while maintaining continuous motor acceleration, not exceeding position boundaries, and meeting maximum stopping acceleration constraints, thus maintaining the safe and stable movement of the robotic arm. During the movement, at each moment, the upper-layer trajectory planner sends a servo target point to the driver layer. The driver determines, based on the current speed and position information, whether it can reduce the speed from the current speed to zero without exceeding the safety boundary under given acceleration and jerk constraints. If so, the sent servo target point is executed directly; otherwise, deceleration replanning is initiated.

[0102] This invention fully considers the practical application requirements of robotic arm systems, combining position constraints and maximum stopping acceleration constraints at the actuator layer to effectively address erroneous or unreasonable planning of upper-level trajectory planning instructions. Finally, we use the common upper-level planning trajectory of a robotic arm, the double S-curve, as an example to illustrate the implementation method of this strategy in detail. Through this safety boundary trajectory checking and planning strategy oriented towards the actuator layer, this invention provides strong support for the safety and reliability of robotic arm systems, and has significant engineering practical value.

[0103] Specifically, such as Figure 1 The diagram shown is a flowchart of the overall algorithm method of the present invention. The present invention provides a trajectory checking and planning method for driver layer safety boundaries, which includes the following steps:

[0104] Step 1): The driver sets motion constraint parameters and maximum stopping acceleration constraints for the driver layer of the robotic arm;

[0105] Set motion constraint parameters, including: safe position constraint and maximum stopping acceleration constraint;

[0106] Among them, the safe position constraint includes: q max and q min This is used to ensure that the range of motion of the robotic arm's joints and end effector does not exceed safety limits when the robotic arm is performing a task;

[0107] Maximum stopping acceleration constraints include: safe acceleration constraints and jerk constraint j max =j min It is used to limit the maximum acceleration of a robotic arm during emergency stops or deceleration, thereby avoiding uncontrollable movement or damage caused by excessive acceleration.

[0108] These constraints are designed to ensure that the range of motion and speed of the robotic arm's joints and end effector do not exceed preset safety limits when performing tasks.

[0109] Step 2): The driver checks the current position and speed of the robotic arm through the safety boundary trigger function to assess whether there are any potential safety risks in the current motion state, i.e., whether the robotic arm is about to or has already exceeded the preset safety boundary; if the safety boundary is not triggered, the driver will continue to execute the trajectory planning instructions issued by the host computer; if the safety boundary is triggered, then proceed to step 3).

[0110] Specifically: the driver checks the current position and speed of the robotic arm in real time through a safety boundary trigger function.

[0111] This function can assess whether there are potential safety risks in the current motion state. Since the upper-level trajectory planning is often a double S-planning, we will discuss double S-planning: Assume the current position of the motor is q, and the current speed is... Current acceleration is The servo position sent down from the upper-level trajectory is r, and the safety position constraint is q. max q min Safety acceleration constraints accelerometer constraint j max =j min T d The deceleration time T is the time required for the current velocity and acceleration to decelerate to 0. ja It is the acceleration j during the deceleration phase. min A constant duration, T jb It is the acceleration j during the deceleration phase. max A constant duration.

[0112] Based on the above variables, the following safety boundary check function and reprogramming strategy are established:

[0113] During the motion, at each command issued at time k, the actuator calculates the acceleration trend based on the theoretical Double S-trajectory acceleration curve. This calculation takes into account the current velocity. and acceleration And whether they can ensure that the velocity will not exceed the safety boundary when it is reduced to 0 under the constraints of acceleration and jerk.

[0114] The specific algorithm for security boundary checks is as follows:

[0115] 2-1) Assuming safety acceleration constraints During deceleration, if the maximum deceleration can be achieved, then:

[0116]

[0117] Among them, T ja The acceleration j during the deceleration phase min Constant duration, Let k be the acceleration of the motor at time k. Let T be the speed of the motor at time k. jb The acceleration j during the deceleration phase max A constant duration, a min Minimum acceleration;

[0118] 2-2) If the current speed and acceleration decelerate to 0, the deceleration time T is required. d ≥T ja +T jbIf the assumption in step 2-1) holds true, then the displacement h that the current velocity and acceleration decelerate to 0 is... k for:

[0119]

[0120] If the current speed and acceleration decelerate to 0, the deceleration time T required is... d ≤T ja +T jb If the assumption in step 2-1) is not true, then we have:

[0121]

[0122] 2-3) Predict whether the displacement during the deceleration process from the current point will trigger the safety boundary. If q min -q k <h k <q max -q k This means that if the current speed and acceleration are within the constraints of acceleration and jerk, and the speed decreases to 0 without exceeding the safety boundary, the driver will continue to execute the trajectory points sent by the host computer.

[0123] 2-4) If the current speed is reduced to 0, it will exceed the safety boundary. The trajectory points issued by the upper layer will not be executed and the replanning phase will be required.

[0124] Step 3): When the safety boundary is triggered, the replanning phase begins. The actuator uses the current position, speed, and acceleration information of the robotic arm to automatically calculate and generate the time-optimal trajectory replanning strategy to ensure that the robotic arm's acceleration and speed decrease continuously and complete the motion within the constraints, minimizing time and energy consumption. In this embodiment, two different strategies are proposed for trajectory replanning.

[0125] The time-optimal trajectory replanning strategies include: a replanning strategy based on numerical integration, and a replanning strategy based on the fusion of offline and online trajectories;

[0126] 3-1) Execute the replanning strategy based on numerical integration:

[0127] Considering a scenario where the target value is greater than the current joint angle, the acceleration is followed by deceleration, i.e., for q... target >q k Let's discuss and set initial conditions. Switching state time points Sampling interval Ts, target condition is Transform the problem description into planning a continuous trajectory from initial conditions to target conditions;

[0128] Specifically:

[0129] Each sampling period k after the start of replanning: when the total planning duration This is the moment when deceleration begins;

[0130] (1) Assuming safety acceleration constraints During deceleration, the maximum deceleration can be achieved as follows:

[0131] (1-1) Case a:

[0132] like For the interval, we have: jerk = j min ;

[0133] (1-2) Case b:

[0134] like For the interval, we have: jerk = 0 for jerk acceleration;

[0135] (1-3) Case c:

[0136] like For the interval, we have: jerk = j max ;

[0137] (2) Assuming safety acceleration constraints During deceleration, if the deceleration does not reach the maximum deceleration:

[0138] (2-1) Case d:

[0139] like Then we have: jerk = j min ;

[0140] (2-2) Case e:

[0141] like Then we have: jerk = j max ;

[0142] (3) Based on the jerk's situation, plan the robot arm motion parameters for the continuous trajectory from the initial conditions to the target conditions, and according to t k =t k By summing up +Ts,k=k+1, we can obtain the acceleration a at time k. k speed v k and position q k ,Right now:

[0143] a k =a k-1 +Ts*jerk

[0144]

[0145]

[0146] However, this algorithm is affected by the sampling time interval T. s The impact of T s The larger the sampling frequency, the greater the error in acceleration, velocity, and position. Reducing the sampling time interval can improve the accuracy of system acceleration, velocity, and position. However, increasing the sampling frequency may also increase the computational burden, which is not ideal for the driver layer. Therefore, the replanning strategy was further optimized to address this issue.

[0147] 3-2) Execute the replanning strategy based on offline and online trajectory fusion, and further optimize the replanning strategy based on numerical integration:

[0148] Integral correction and compensation are performed using the offline piecewise function of Double S. At the end of each sampling or control cycle, the offline function is used to correct the integral term, thereby reducing integral error and improving control accuracy.

[0149] Specifically:

[0150] Assuming safety acceleration constraints During deceleration, the maximum deceleration can be achieved as follows:

[0151] a. If the integral term is corrected using an offline function for case a, then:

[0152] v lim =max(v0,v max )

[0153]

[0154]

[0155]

[0156]

[0157] b. If the integral term is corrected using an offline function for case b, then:

[0158] v lim =max(v0,v max )

[0159]

[0160]

[0161]

[0162]

[0163] c. If the integral term is corrected using an offline function for case c, then:

[0164]

[0165]

[0166]

[0167]

[0168] d. Assume safe acceleration constraints During deceleration, if the deceleration does not reach the maximum deceleration:

[0169] If the integral term is corrected using an offline function for case d, then:

[0170] v lim =max(v0,v max )

[0171]

[0172]

[0173]

[0174]

[0175] e. If the integral term is corrected using an offline function for case e, then:

[0176]

[0177]

[0178]

[0179]

[0180] For steps a to e, according to t k =t k Accumulate +Ts,k=k+1, q target <q k Transformed into q through symbol transformation target >q k In the form of [formula], after the calculation is completed, the position, velocity, acceleration, and jerk are obtained by transformation.

[0181] The second method of integral correction and compensation based on Double S offline piecewise functions not only improves the motion control accuracy of the robotic arm, but also enhances the stability and safety of the system, providing stronger technical support for complex task execution.

[0182] Step 4): The actuator will adjust the actuator commands generated according to the replanning strategy to ensure the safe movement of the robotic arm; specifically:

[0183] 4-1) Make real-time adjustments based on the reprogrammed driver instructions to ensure that the robotic arm can move within the safety boundary. If an erroneous instruction is detected and the arm stops within the safety boundary, proceed to steps 4-2) to 4-3).

[0184] 4-2) Establish a simulation experiment: Set the safety boundary to 100°, and issue an erroneous target command of 120° to the trajectory. min = -15° / s 2 Actual driver layer speed constraint v max =20° / s, v min = -20° / s, acceleration constraint a max =15° / s 2 ,a min = -10° / s 2 jerk constraint: 100° / s 3 The experiment yielded corresponding curves and experimental result graphs, such as... Figures 2-5 As shown.

[0185] 4-3) Complete the simulation experiment and generate the driver instructions.

[0186] The above description is merely a specific example of the present invention and does not constitute any limitation on the present invention. Obviously, those skilled in the art, after understanding the content and principles of the present invention, may make various modifications and changes in form and details without departing from the principles and structure of the present invention. However, these modifications and changes based on the ideas of the present invention are still within the scope of protection of the claims of the present invention.

Claims

1. A trajectory checking and planning method for driver layer safety boundaries, characterized in that, Includes the following steps: 1) The driver sets motion constraint parameters for the driver layer of the robotic arm; 2) The actuator checks the current position and speed of the robotic arm through the safety boundary trigger function to assess whether there are potential safety risks in the current motion state, that is, to predict in advance whether the robotic arm is about to exceed the preset safety boundary. If the safety boundary is not triggered, the driver will continue to execute the trajectory planning instructions issued by the host computer; If a security boundary is triggered, proceed to step 3). 3) When the safety boundary is triggered, the replanning phase begins. The actuator uses the current position, speed and acceleration information of the robotic arm to automatically calculate and generate the time-optimal trajectory replanning strategy to ensure that the robotic arm's acceleration and speed decrease continuously and complete the motion within the constraints, minimizing time and energy consumption. Step 3) specifically refers to: The time-optimal trajectory replanning strategy includes: a replanning strategy based on numerical integration, and a replanning strategy based on the fusion of offline and online trajectories. 3-1) Execute the replanning strategy based on numerical integration: Considering a scenario where the target value is greater than the current joint angle, and the joint angle is increased first, followed by deceleration, that is, for... Let's discuss and set initial conditions. Switching state time points Sampling interval The target condition is Transform the problem description into planning a continuous trajectory from initial conditions to target conditions; 3-2) Execute the replanning strategy based on offline and online trajectory fusion, and further optimize the replanning strategy based on numerical integration: Integral correction and compensation are performed using the offline piecewise function of Double S. At the end of each sampling or control cycle, the offline function is used to correct the integral term to reduce integral error and improve control accuracy. The replanning strategy based on offline and online trajectory fusion is executed, and the replanning strategy based on numerical integration is further optimized, specifically as follows: Assuming safety acceleration constraints During deceleration, the maximum deceleration can be achieved as follows: a. If the integral term is corrected using an offline function for case a, then: ； b. If the integral term is corrected using an offline function for case b, then: ； c. If the integral term is corrected using an offline function for case c, then: ； d. Assume safe acceleration constraints During deceleration, if the deceleration does not reach the maximum deceleration: If the integral term is corrected using an offline function for case d, then: ； e. If the integral term is corrected using an offline function for case e, then: ； For steps a to e, according to Accumulate. Transformed into a symbolic form After the calculation is completed, the position, velocity, acceleration, and jerk are transformed to obtain the form; 4) The driver will adjust the driver commands generated according to the replanning strategy to ensure the safe movement of the robotic arm.

2. The trajectory inspection and planning method for driver layer safety boundaries according to claim 1, characterized in that, Step 1) specifically refers to: The set motion constraint parameters include: safe position constraint and maximum stopping acceleration constraint; Among them, safe position constraints include: and This is used to ensure that the range of motion of the robotic arm's joints and end effector does not exceed safety limits when the robotic arm is performing a task; Maximum stopping acceleration constraints include: safe acceleration constraints and jerk constraints It is used to limit the maximum acceleration of a robotic arm during emergency stops or deceleration, thereby avoiding uncontrollable movement or damage caused by excessive acceleration.

3. The trajectory inspection and planning method for driver layer safety boundaries according to claim 1, characterized in that, The driver checks the current position and speed of the robotic arm in real time through a safety boundary trigger function, including the following steps: 1-1) The host computer trajectory planning is a double S-planar programming. For the double S-planar programming: Set the current position of the motor as The current speed is The current acceleration is The servo position sent by the host computer is Motion constraint parameters: current velocity and acceleration, deceleration time required to reduce to 0. acceleration during deceleration constant duration acceleration during deceleration constant duration ; 1-2) Establish safety boundary check function and replanning strategy: During the movement, the actuator, at each command issuance moment... The current velocity is determined by calculating the acceleration curve trend of the theoretical Double S trajectory. and acceleration And whether they can ensure that the velocity will not exceed the safety boundary when it is reduced to 0 under the constraints of acceleration and jerk.

4. The trajectory inspection and planning method for driver layer safety boundaries according to claim 3, characterized in that, Steps 1-2) are specifically as follows: 2-1) Assuming safety acceleration constraints During deceleration, if the maximum deceleration can be achieved, then: ， ， ； in, For acceleration during the deceleration phase Constant duration, For a moment The acceleration of the motor, For a moment Motor speed, For acceleration during the deceleration phase Constant duration, Minimum acceleration; 2-2) The deceleration time required for the current speed and acceleration to decelerate to 0 If the assumption in step 2-1) holds true, then the displacement traveled when the current velocity and acceleration decelerate to 0 is... for: ； If the current speed and acceleration decelerate to 0, the deceleration time required If the assumption in step 2-1) is not true, then we have: ； 2-3) Predict whether the displacement during the deceleration process from the current point will trigger the safety boundary. If... This means that if the current speed and acceleration are within the constraints of acceleration and jerk, and the speed decreases to 0 without exceeding the safety boundary, the driver will continue to execute the trajectory points sent by the host computer. 2-4) If the current speed is reduced to 0, it will exceed the safety boundary. The trajectory points issued by the upper layer will not be executed and the replanning phase will be required.

5. The trajectory inspection and planning method for driver layer security boundaries according to claim 1, characterized in that, Step 3-1) specifically involves: Each sampling period after reprogramming begins When the total duration of the plan , This is the moment when deceleration begins; (1) Assume safe acceleration constraints During deceleration, the maximum deceleration can be achieved as follows: (1-1) Case a: like For the interval, we have: jerk constraint ; (1-2) Case b: like For the interval, we have: jerk constraint ; (1-3) Case c: like For the interval, we have: jerk constraint ; (2) Assume safe acceleration constraints During deceleration, if the deceleration does not reach the maximum deceleration: (2-1) Case d: like Then we have: jerk constraint ; (2-2) Case e: like Then we have: jerk constraint ; (3) According to Given the situation, plan the motion parameters of the robotic arm for the continuous trajectory from the initial conditions to the target conditions, and follow... By summing, we get acceleration at any moment ,speed and location ,Right now: 。 6. The trajectory inspection and planning method for driver layer security boundaries according to claim 1, characterized in that, The driver will adjust the driver instructions generated according to the replanning strategy, specifically: 4-1) Adjust in real time according to the reprogrammed actuator instructions to ensure that the robotic arm can move within the safety boundary. If an erroneous instruction is detected and the arm stops within the safety boundary, proceed to steps 4-2) to 4-3). 4-2) Establish a simulation experiment: Set the safety boundary to 100°, and issue an erroneous target command of 120° to the trajectory. Actual driver layer speed constraints Acceleration constraints jerk constraint ; 4-3) Complete the simulation experiment and generate the driver instructions.

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