Continuous trajectory planning method and device for coordinated motion of industrial robots and additional axes

Abstract

This application provides a method and apparatus for continuous trajectory planning of an industrial robot and an additional axis co-moving. The method includes: acquiring first motion parameters and second motion parameters; calculating the transition time of the robot's continuous trajectory based on the first motion parameters, and calculating the transition time of the additional axis's continuous trajectory based on the second motion parameters; when the first interpolation running time reaches the first transition time, simultaneously performing interpolation calculation on the second path, so that the first path and the second path transition smoothly and continuously; when the second interpolation running time reaches the second transition time, simultaneously performing interpolation calculation on the fourth path, so that the third path and the fourth path transition smoothly and continuously. This application solves the problem in the prior art that the continuity of the velocity curve of the transition segment of the two trajectories of the robot and the additional axis co-moving cannot be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of continuous trajectory planning for robots, and more specifically, to a continuous trajectory planning method, a continuous trajectory planning device, a computer-readable storage medium, and a computer program product for the coordinated motion of an industrial robot and an additional axis. Background Technology

[0002] To expand the processing range of industrial robots and reduce equipment investment costs, industrial robots are typically used in conjunction with additional axes to form a system workstation in actual industrial production. To achieve continuous movement of the system workstation in Cartesian space or joint space, it is necessary to simultaneously perform cooperative trajectory smoothing processing on the industrial robot and the additional axes.

[0003] Patent CN110497411A discloses a cooperative trajectory transition method based on Bezier splines, which can achieve transitions in the position and orientation of cooperative trajectories. It also proposes a spline transition trajectory splicing method and a velocity preprocessing method for continuous trajectories with spline transitions. However, this method can only be used for smooth transitions of cooperative trajectories in Cartesian spaces such as line-to-line, line-to-circular arc, and circular arc-to-circular arc, and cannot achieve smooth transitions of cooperative trajectories in joint space. Patent CN117140528A discloses a robot-external axis linkage planning method based on proportional mapping. By establishing the coordinate transformation relationship of the linkage system, the path to be planned is determined, the path to be planned is preprocessed synchronously, and synchronous velocity planning is performed on the transition segment and the straight segment respectively, enabling continuous synchronous trajectory planning and operation between the robot and the external axis. However, the velocity curve planned by this method exhibits a step phenomenon, which will affect the quality of the operation. Existing methods are not applicable to joint space trajectories and cannot guarantee the continuity of the velocity curve of the transition segment. Summary of the Invention

[0004] The main objective of this application is to provide a continuous trajectory planning method, a continuous trajectory planning device, a computer-readable storage medium, and a computer program product for the coordinated motion of an industrial robot and an additional axis, so as to at least solve the problem in the prior art that the speed curve of the transition segment of the two trajectories of the coordinated motion of the robot and the additional axis cannot be guaranteed to be continuous.

[0005] To achieve the above objectives, according to one aspect of this application, a continuous trajectory planning method for the cooperative motion of an industrial robot and an additional axis is provided, comprising: acquiring a first motion parameter and a second motion parameter, wherein the first motion parameter is a trajectory motion parameter of the robot, and the second motion parameter is a trajectory motion parameter of the additional axis; the first motion parameter includes at least a first distance and a second distance of the robot on a first target continuous trajectory, and the second motion parameter includes at least a third distance and a fourth distance of the additional axis on a second target continuous trajectory; the first target continuous trajectory is two consecutive trajectory segments of the robot in a three-dimensional coordinate system, and the second target continuous trajectory is two consecutive trajectory segments of the additional axis parallel to a target plane, wherein the target plane is a plane formed by any two coordinate axes in the three-dimensional coordinate system; calculating the transition time of the robot's continuous trajectory based on the first motion parameter, and calculating the transition time of the additional axis's continuous trajectory based on the second motion parameter, wherein the robot's continuous trajectory transition time is the first target... The transition time between two segments of a continuous trajectory is defined as follows: the transition time of the additional axis continuous trajectory is the same as the transition time of the two segments of the second target continuous trajectory; when the first interpolation running time reaches the first transition time, interpolation calculation is performed synchronously on the second path to ensure a smooth and continuous transition between the first path and the second path; the first interpolation running time is the duration of the interpolation calculation on the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the robot's continuous trajectory; when the second interpolation running time reaches the second transition time, interpolation calculation is performed synchronously on the fourth path to ensure a smooth and continuous transition between the third path and the fourth path; the second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the additional axis's continuous trajectory.

[0006] Optionally, obtaining the first motion parameter and the second motion parameter includes: calculating the distance between the starting point and the ending point of the first segment of the first target continuous trajectory to obtain the first distance traveled by the robot; calculating the distance between the starting point and the ending point of the second segment of the first target continuous trajectory to obtain the second distance traveled by the robot; calculating the distance between the starting point and the ending point of the additional axis in the first segment of the second target continuous trajectory to obtain the third distance traveled by the additional axis; and calculating the distance between the starting point and the ending point of the additional axis in the second segment of the second target continuous trajectory to obtain the fourth distance traveled by the additional axis.

[0007] Optionally, calculating the robot's continuous trajectory transition time based on the first motion parameters and the additional axis continuous trajectory transition time based on the second motion parameters includes: calculating the robot's corresponding first total running time, first deceleration segment running time, second total running time, and first acceleration segment running time based on the first motion parameters, wherein the first total running time is the robot's running time on the first path, the first deceleration segment running time is the running time of the deceleration segment on the first path, the second total running time is the running time on the second path, and the first acceleration segment running time is the running time of the acceleration segment on the second path; and then calculating the first deceleration segment running time and the first... The smaller value of the acceleration segment running time is used as the transition time of the robot's continuous trajectory; the third total running time, the second deceleration segment running time, the fourth total running time, and the second acceleration segment running time corresponding to the additional axis are calculated according to the second motion parameters. The third total running time is the running time of the additional axis on the third path, the second deceleration segment running time is the running time of the deceleration segment on the third path, the second total running time is the running time on the fourth path, and the second acceleration segment running time is the running time of the acceleration segment on the fourth path; the smaller value of the second deceleration segment running time and the second acceleration segment running time is used as the transition time of the additional axis's continuous trajectory.

[0008] Optionally, the first motion parameters further include the robot's velocity constraints, acceleration constraints, and jerk constraints. Calculating the robot's first total running time, first deceleration segment running time, second total running time, and first acceleration segment running time based on the first motion parameters includes: a first calculation step, where, given that the initial velocity of the robot's i-th trajectory segment is 0, the first stage time is calculated according to a first formula, and twice the first stage time is calculated to obtain the acceleration running time. The first stage time is the duration when the jerk is constant. The first formula is... T j1 v represents the time of the first stage. rob_max Represents the velocity constraint, j rob_max The acceleration constraint is given by v0, where v0 represents the initial velocity of the robot in the i-th segment of the trajectory. The second calculation step involves calculating the first stage time according to a second formula when the initial velocity of the robot in the i-th segment of the trajectory is not zero. This first stage time is then substituted into a third formula to calculate the acceleration running time. The second formula is... a rob_max The acceleration constraint is represented by the third formula. The third calculation step involves calculating the second stage time according to the fourth formula when the termination speed of the i-th segment of the robot's trajectory is 0. This second stage time is then doubled to obtain the deceleration time, which is defined as the first deceleration segment running time. The first stage time is the duration when the acceleration is constant. The fourth formula is... T j2 Indicates the time of the second stage, v rob_max Represents the velocity constraint, j rob_max The acceleration constraint is represented by v1, which represents the robot's termination velocity in the i-th segment of the trajectory. In the fourth calculation step, if the termination velocity of the robot's i-th segment of the trajectory is not zero, the second stage time is calculated according to the fifth formula, and the second stage time is substituted into the sixth formula to calculate the deceleration running time. This deceleration running time is then determined as the running time of the first deceleration segment. The fifth formula is... a rob_max The sixth formula represents the acceleration constraint. The fifth calculation step involves calculating the time of the robot's uniform velocity phase according to the seventh formula, which is: The sixth calculation step involves adding the acceleration time, the deceleration time, and the uniform speed phase time to obtain the total running time; determining the total running time corresponding to the i-th trajectory segment as the first total running time, updating i to i+1, and repeating the first calculation step, the second calculation step, the third calculation step, the fourth calculation step, the fifth calculation step, and the sixth calculation step once in sequence to obtain the second total running time corresponding to the (i+1)-th trajectory segment and the first acceleration segment running time, where the first acceleration segment running time is the acceleration running time of the (i+1)-th trajectory segment.

[0009] Optionally, after calculating the transition time of the robot's continuous trajectory based on the first motion parameters and the transition time of the additional axis's continuous trajectory based on the second motion parameters, the method further includes: performing the interpolation calculation on the robot's first path and simultaneously performing the interpolation calculation on the third path of the additional axis.

[0010] Optionally, after simultaneously performing interpolation calculation on the second path when the first interpolation running time reaches the first transition time, the method further includes: stopping the interpolation calculation on the first path when the first interpolation running time reaches the total running time corresponding to the first path; and stopping the interpolation calculation on the second path when the third interpolation running time reaches the total running time of the second path, wherein the third interpolation running time is the duration of performing the interpolation calculation on the second path.

[0011] Optionally, after performing the interpolation calculation on the fourth path synchronously when the second interpolation running time reaches the second transition time, the method further includes: stopping the interpolation calculation on the third path when the second interpolation running time reaches the total running time corresponding to the third path; stopping the interpolation calculation on the fourth path when the fourth interpolation running time reaches the total running time corresponding to the fourth path, wherein the fourth interpolation running time is the duration of performing the interpolation calculation on the fourth path.

[0012] According to another aspect of this application, a continuous trajectory planning device for the coordinated motion of an industrial robot and an additional axis is provided. The device includes: an acquisition unit, configured to acquire first motion parameters and second motion parameters, wherein the first motion parameters are trajectory motion parameters of the robot, and the second motion parameters are trajectory motion parameters of the additional axis. The first motion parameters include at least a first distance and a second distance traveled by the robot on a first target continuous trajectory, and the second motion parameters include at least a third distance and a fourth distance traveled by the additional axis on a second target continuous trajectory. The first target continuous trajectory is two consecutive trajectory segments of the robot in a three-dimensional coordinate system, and the second target continuous trajectory is two consecutive trajectory segments of the additional axis parallel to a target plane, wherein the target plane is a plane formed by any two coordinate axes in the three-dimensional coordinate system; and a calculation unit, configured to calculate the transition time of the robot's continuous trajectory based on the first motion parameters, and to calculate the transition time of the additional axis's continuous trajectory based on the second motion parameters, wherein the transition time of the robot's continuous trajectory is the first target continuous trajectory. The transition time between the two segments of the trajectory is defined as follows: the transition time of the additional axis continuous trajectory is the time of the transition between the two segments of the second target continuous trajectory; the first interpolation unit is used to simultaneously perform interpolation calculation on the second path when the first interpolation running time reaches the first transition time, so that the first path and the second path transition smoothly and continuously, the first interpolation running time is the duration of the interpolation calculation on the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the robot's continuous trajectory; the second interpolation unit is used to simultaneously perform interpolation calculation on the fourth path when the second interpolation running time reaches the second transition time, so that the third path and the fourth path transition smoothly and continuously, the second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the additional axis's continuous trajectory.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0014] According to another aspect of this application, a computer program product is provided, including computer instructions that, when executed by a processor, implement any of the methods described.

[0015] By applying the technical solution of this application, in the continuous trajectory planning method for the cooperative motion of an industrial robot and an auxiliary axis, by obtaining two segments of trajectory parameters for the robot (i.e., the first motion parameters) and two segments of trajectory parameters for the auxiliary axis (i.e., the second motion parameters), the corresponding trajectory transition time is determined based on the trajectory parameters. The robot and the auxiliary axis simultaneously begin interpolation calculations for the first segment of the trajectory. Based on the trajectory transition time, the start interpolation time for the second segment of the robot's trajectory and the start interpolation time for the second segment of the auxiliary axis's trajectory are determined, allowing for synchronous interpolation calculations. This enables a smooth transition of the trajectory for the cooperative motion of the robot and the auxiliary axis in Cartesian space and joint space. This application solves the problem in the prior art that the continuity of the velocity curve of the transition segment of the two segments of the cooperative motion trajectory of the robot and the auxiliary axis cannot be guaranteed. Attached Figure Description

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for performing a continuous trajectory planning method for the coordinated motion of an industrial robot with an additional axis, according to an embodiment of this application, is shown.

[0017] Figure 2 A flowchart illustrating a continuous trajectory planning method for the cooperative motion of an industrial robot with an additional axis, according to an embodiment of this application, is shown.

[0018] Figure 3 A schematic diagram of a robot and an additional axis continuous trajectory provided according to an embodiment of this application is shown;

[0019] Figure 4 A schematic diagram illustrating the activation of the interpolation module during continuous trajectory operation of a robot according to an embodiment of this application is shown.

[0020] Figure 5 A schematic diagram illustrating the activation of the additional axis continuous trajectory runtime interpolation module according to an embodiment of this application is shown.

[0021] Figure 6 A simulation diagram of a robot's Cartesian trajectory without using a continuous trajectory planning method, provided according to an embodiment of this application, is shown.

[0022] Figure 7 A simulation diagram of a robot's Cartesian trajectory using a continuous trajectory planning method, provided according to an embodiment of this application, is shown.

[0023] Figure 8 Simulation diagrams of joint motion curves without using continuous trajectory planning methods, according to embodiments of this application, are shown.

[0024] Figure 9 A simulation diagram of joint motion curves using a continuous trajectory planning method according to an embodiment of this application is shown;

[0025] Figure 10 A structural block diagram of a continuous trajectory planning device for the coordinated motion of an industrial robot and an additional axis, according to an embodiment of this application, is shown.

[0026] The above figures include the following reference numerals:

[0027] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0032] Jerk: also known as jerk, variable acceleration, impulse, and jerk, is a physical quantity that describes how fast acceleration changes. It is determined by the amount of change in acceleration and the time elapsed.

[0033] As described in the background section, existing methods are not applicable to joint space trajectories and cannot guarantee the continuity of the velocity curve in the transition segment. To address the problem that existing technologies cannot guarantee the continuity of the velocity curve in the transition segment of the two trajectories of the robot and the additional axis in cooperative motion, embodiments of this application provide a continuous trajectory planning method, a continuous trajectory planning device, a computer-readable storage medium, and a computer program product for the cooperative motion of an industrial robot and an additional axis.

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0035] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a continuous trajectory planning method for the coordinated motion of an industrial robot and an additional axis, according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0036] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0037] This embodiment provides a continuous trajectory planning method for the coordinated motion of an industrial robot and an additional axis running on a mobile terminal, computer terminal or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although the logical order is shown in the flowchart, in some cases the steps shown or described can be executed in a different order than that shown here.

[0038] Figure 2 This is a flowchart of a continuous trajectory planning method for the coordinated motion of an industrial robot and an additional axis according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0039] Step S201: Obtain first motion parameters and second motion parameters. The first motion parameters are the trajectory motion parameters of the robot, and the second motion parameters are the trajectory motion parameters of the additional axis. The first motion parameters include at least the first and second distances of the robot on the first target continuous trajectory, and the second motion parameters include at least the third and fourth distances of the additional axis on the second target continuous trajectory. The first target continuous trajectory is two consecutive trajectory segments of the robot in the three-dimensional coordinate system, and the second target continuous trajectory is two consecutive trajectory segments of the additional axis parallel to the target plane. The target plane is the plane formed by any two coordinate axes in the three-dimensional coordinate system.

[0040] Specifically, the robot motion control system obtains the aforementioned first and second motion parameters based on multiple segments of trajectory taught by the user. For example, the robot's first path... Second leg And the third path of the additional shaft and the fourth journey Where i = 1, 2, ..., n, i represents the trajectory number. It should also be noted that the robot can be a six-axis industrial robot, a SCARA industrial robot, or other industrial robots, and the additional axes can be additional axis systems such as additional axis guides, positioners, and three-coordinate platforms.

[0041] Step S202: Calculate the transition time of the robot's continuous trajectory based on the first motion parameters and calculate the transition time of the additional axis continuous trajectory based on the second motion parameters. The transition time of the robot's continuous trajectory is the time for the two segments of the first target continuous trajectory to transition, and the transition time of the additional axis continuous trajectory is the time for the two segments of the second target continuous trajectory to transition.

[0042] Specifically, in order to enable the robot and the additional axis to transition smoothly between two continuous trajectories, it is necessary to calculate the transition time of the robot during the transition between the two trajectories based on the first motion parameter mentioned above, i.e., the transition time of the robot's continuous trajectory, and to calculate the transition time of the additional axis during the transition between the two trajectories based on the second motion parameter, i.e., the transition time of the additional axis's continuous trajectory.

[0043] Step S203: When the first interpolation running time reaches the first transition time, the second path is interpolated simultaneously to make the first path and the second path transition smoothly and continuously. The first interpolation running time is the duration of the interpolation calculation for the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the robot's continuous trajectory.

[0044] Specifically, for the first leg The interpolation calculation is performed by the Rob_A interpolation module, while the interpolation calculation for the second path is performed by the Rob_B interpolation module. When the Rob_A interpolation module reaches the first transition time, the Rob_B interpolation module is simultaneously started to perform the interpolation calculation for the second path. Interpolation calculations are performed to enable continuous operation of the robot's two trajectories.

[0045] Step S204: When the second interpolation running time reaches the second transition time, the interpolation calculation is performed synchronously on the fourth path, so that the third path and the fourth path transition smoothly and continuously. The second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the continuous trajectory of the additional axis.

[0046] Specifically, regarding the third leg The interpolation calculation is performed by the Add_A interpolation module for the additional axis, specifically for the fourth path. The interpolation calculation is performed by the Add_B interpolation module. When the Add_A interpolation module reaches the second transition time, the Add_B interpolation module is simultaneously started to perform the interpolation on the fourth path. Interpolation calculations are performed to achieve continuous operation of the two segments of the trajectory on the additional axis.

[0047] In this embodiment, in the continuous trajectory planning method for the coordinated motion of an industrial robot and an additional axis, firstly, a first motion parameter and a second motion parameter are obtained. The first motion parameter is the trajectory motion parameter of the robot, and the second motion parameter is the trajectory motion parameter of the additional axis. The first motion parameter includes at least the first and second distances traveled by the robot on the first target continuous trajectory, and the second motion parameter includes at least the third and fourth distances traveled by the additional axis on the second target continuous trajectory. The first target continuous trajectory is two consecutive segments of the robot's trajectory in a three-dimensional coordinate system, and the second target continuous trajectory is two consecutive segments of the additional axis parallel to the target plane. The target plane is the plane formed by any two coordinate axes in the three-dimensional coordinate system. Then, the transition time of the robot's continuous trajectory is calculated based on the first motion parameter, and the transition time of the additional axis's continuous trajectory is calculated based on the second motion parameter. The transition time of the robot's continuous trajectory is the first target continuous trajectory. The transition time between the two segments of the continuous trajectory is the same as the transition time between the two segments of the second target continuous trajectory. Then, when the first interpolation running time reaches the first transition time, interpolation calculation is performed synchronously on the second path to ensure a smooth and continuous transition between the first and second paths. The first interpolation running time is the duration of interpolation calculation for the robot's first path, and the first transition time is the difference between the robot's total running time on the first path and the robot's continuous trajectory transition time. Finally, when the second interpolation running time reaches the second transition time, interpolation calculation is performed synchronously on the fourth path to ensure a smooth and continuous transition between the third and fourth paths. The second interpolation running time is the duration of interpolation calculation for the third path of the additional axis, and the second transition time is the difference between the additional axis's total running time on the third path and the additional axis's continuous trajectory transition time. This application obtains two trajectory parameters of the robot (first motion parameters) and two trajectory parameters of the auxiliary axis (second motion parameters), and determines the corresponding trajectory transition time based on these parameters. The robot and the auxiliary axis simultaneously begin interpolation calculations for the first trajectory segment. Based on the trajectory transition time, the start time for interpolation of the robot's second trajectory segment and the start time for interpolation of the auxiliary axis's second trajectory segment are determined, allowing for synchronous interpolation calculations. This enables smooth trajectory transitions for the coordinated motion of the robot and the auxiliary axis in Cartesian space and joint space. This application solves the problem in existing technologies where the continuity of the velocity curves during the transition segment of the coordinated motion of the robot and the auxiliary axis cannot be guaranteed.

[0048] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the continuous trajectory planning method for the coordinated motion of industrial robots and additional axes of this application will be described in detail below with reference to specific embodiments.

[0049] To facilitate the analysis and optimization of the motion trajectory of the robot and its additional axes, in one optional implementation, step S201 includes:

[0050] Step S2011: Calculate the distance between the starting point and the ending point of the first segment of the continuous trajectory of the first target to obtain the first distance traveled by the robot, and calculate the distance between the starting point and the ending point of the second segment of the continuous trajectory of the first target to obtain the second distance traveled by the robot.

[0051] Step S2012: Calculate the distance between the starting point and the ending point of the first segment of the continuous trajectory of the second target on the additional axis to obtain the third distance corresponding to the additional axis; and calculate the distance between the starting point and the ending point of the second segment of the continuous trajectory of the second target on the additional axis to obtain the fourth distance corresponding to the additional axis.

[0052] In the above embodiments, Figure 3 A schematic diagram of the continuous trajectory of the robot and its additional axes, such as... Figure 3 As shown, the robot motion control system calculates the robot's first distance based on the distances between the starting points and corresponding ending points of the multiple trajectories taught by the user. Second route The third path of the additional shaft and the fourth journey Of course, when teaching, users can also directly teach the robot and the two trajectory paths corresponding to the additional axis, that is, the first path, the second path, the third path and the fourth path can be directly taught and set.

[0053] To ensure the continuity of the velocity curve, in one optional implementation, step S202 includes:

[0054] Step S2021: Calculate the first total running time, the first deceleration segment running time, the second total running time, and the first acceleration segment running time of the robot based on the first motion parameters. The first total running time is the running time of the robot on the first path, the first deceleration segment running time is the running time of the deceleration segment on the first path, the second total running time is the running time on the second path, and the first acceleration segment running time is the running time of the acceleration segment on the second path.

[0055] Step S2022: The smaller value between the running time of the first deceleration segment and the running time of the first acceleration segment is taken as the transition time of the robot's continuous trajectory.

[0056] Step S2023: Calculate the third total running time, the second deceleration segment running time, the fourth total running time, and the second acceleration segment running time corresponding to the additional shaft based on the second motion parameters. The third total running time is the running time of the additional shaft on the third path. The second deceleration segment running time is the running time of the deceleration segment on the third path. The second total running time is the running time on the fourth path. The second acceleration segment running time is the running time of the acceleration segment on the fourth path.

[0057] Step S2024: The smaller of the running time of the second deceleration segment and the running time of the second acceleration segment is taken as the transition time of the continuous trajectory of the additional axis.

[0058] In the above embodiments, the first motion parameter further includes the robot's velocity constraint v. rob_max The acceleration constraint of the robot a rob_max The robot's jerk constraint j rob_max By substituting the first motion parameter into the corresponding calculation formula, the robot's first total running time can be calculated. First deceleration phase running time Second total running time and the first acceleration phase running time Compare the first journey of the robots deceleration segment running time Second route acceleration segment runtime Take the smaller value as the transition time T of the robot's continuous trajectory. rob_trans ,Right now Similarly, the second motion parameter mentioned above also includes the velocity constraint v of the additional axis. add_max Additional axis acceleration constraint a add_max And the jerk constraint j of the additional axis add_max By substituting the first motion parameters into the corresponding calculation formula, the third total running time of the additional axis can be calculated. Second deceleration phase running time Fourth total running time Second acceleration segment running time Compare additional axle distances deceleration segment running time and journey acceleration segment runtime Take the smaller value as the transition time T of the additional axis continuous trajectory add_trans ,Right now When a robot or an auxiliary axis switches from one trajectory to another, a long transition time may cause a step or discontinuity in the velocity curve. Taking a smaller value as the transition time helps to ensure the continuity of the velocity curve and avoid sudden velocity changes.

[0059] In order to accurately calculate the running time of each segment of the robot's trajectory and provide a data basis for subsequent interpolation calculations, in an optional implementation, step S2021 includes:

[0060] Step S20211, the first calculation step, when the initial velocity of the i-th segment of the robot's trajectory is 0, calculate the first stage time according to the first formula, and calculate twice the first stage time to obtain the acceleration running time. The first stage time is the duration when the jerk is constant. The first formula is... T j1 v represents the time of the first stage mentioned above. rob_max To represent the above velocity constraint, j rob_max The above-mentioned jerk constraint is represented by v0, which represents the initial velocity of the robot in the i-th segment of the trajectory.

[0061] Step S20212, the second calculation step: Given that the initial velocity of the i-th segment of the robot's trajectory is not zero, the first stage time is calculated according to the second formula, and this first stage time is then substituted into the third formula to calculate the acceleration time. The second formula is... a rob_max The above acceleration constraint is represented by the third formula.

[0062] Step S20213, the third calculation step: when the termination speed of the i-th segment of the robot's trajectory is 0, the second stage time is calculated according to the fourth formula, and twice the second stage time is calculated to obtain the deceleration running time. This deceleration running time is then determined as the first deceleration segment running time. The first stage time is the duration when the acceleration is constant. The fourth formula is... T j2 v represents the time of the second stage mentioned above. rob_max To represent the above velocity constraint, j rob_max v1 represents the aforementioned jerk constraint, and v1 represents the aforementioned termination velocity of the robot in the aforementioned i-th segment of the trajectory;

[0063] Step S20214, the fourth calculation step: when the termination speed of the i-th segment of the robot's trajectory is not 0, the second stage time is calculated according to the fifth formula, and the second stage time is substituted into the sixth formula to calculate the deceleration running time. This deceleration running time is then determined as the first deceleration segment running time. The fifth formula is... a rob_max Representing the above acceleration constraints, the sixth formula is:

[0064] Step S20215, the fifth calculation step, calculates the uniform velocity phase time of the robot according to the seventh formula, which is:

[0065] Step S20216, the sixth calculation step, adds the above acceleration running time, the above deceleration running time and the above uniform speed stage time to obtain the total running time;

[0066] Step S20217: Determine the total running time corresponding to the i-th segment of the trajectory as the first total running time, update i to i+1, and repeat the first calculation step, the second calculation step, the third calculation step, the fourth calculation step, the fifth calculation step, and the sixth calculation step once in sequence to obtain the second total running time and the first acceleration segment running time corresponding to the (i+1)-th segment of the trajectory. The first acceleration segment running time is the acceleration running time of the (i+1)-th segment of the trajectory.

[0067] In the above embodiments, the first motion parameters further include the robot's velocity constraints, acceleration constraints, and jerk constraints. For each trajectory segment, the robot can calculate the running time of the acceleration segment (i.e., the acceleration running time), the running time of the deceleration segment (i.e., the deceleration running time), and the running time of the constant speed segment (i.e., the constant speed phase time). Adding these times together yields the robot's total running time for that trajectory segment. For the first trajectory segment, only the running time of the deceleration segment and the total running time are considered; for the second trajectory segment, only the running time of the acceleration segment and the total running time are considered. The running time of the acceleration segment is related to the robot's initial velocity on that trajectory segment. When the initial velocity is 0, it is calculated using the first formula; when the initial velocity is not 0, it is calculated using the second and third formulas. The running time of the deceleration segment is related to the robot's final velocity on that trajectory segment. When the final velocity is 0, it is calculated using the fourth formula; when the final velocity is not 0, it is calculated using the fifth and sixth formulas. The time for the constant velocity segment can be directly calculated using the seventh formula. The acceleration segment time, deceleration segment time, and total running time for each segment of the trajectory on the additional axis are also calculated using the same method. The only difference is the specific values ​​of the parameters in each formula.

[0068] To ensure coordinated movement between the robot and the additional axis, in an optional implementation, after step S202 above, the method further includes:

[0069] Step S301: Perform the interpolation calculation on the first path of the robot and the interpolation calculation on the third path of the additional axis.

[0070] In the above embodiments, Figure 4 and Figure 5 These are schematic diagrams showing the activation of the robot's continuous trajectory interpolation module and the additional axis continuous trajectory interpolation module, respectively. Figure 4 and Figure 5 As shown, initiate trajectory interpolation for the robot and the additional axis. First, use the Robot_A interpolation module to interpolate the aforementioned first path. Perform interpolation calculations, using the Add_A interpolation module for the third path. Interpolation calculations are performed. Interpolation is the process of generating intermediate path points between key points on a known path to ensure that the robot or additional axes can move smoothly and continuously from one point to another. This synchronous interpolation calculation is crucial for achieving coordinated motion between the robot and the additional axes, ensuring their coordinated movement.

[0071] To prevent the robot's interpolation module from still occupying system resources after completing its task, in an optional implementation, after step S203 above, the method further includes:

[0072] Step S401: If the first interpolation running time reaches the total running time corresponding to the first distance, stop the interpolation calculation for the first distance.

[0073] Step S402: If the third interpolation running time reaches the total running time of the second path, stop the interpolation calculation for the second path. The third interpolation running time is the duration of the interpolation calculation for the second path.

[0074] In the above embodiments, such as Figure 4 As shown, when the robot Rob A interpolation module finishes calculating the first segment of the trajectory, that is, when the robot's total running time for the first segment of the trajectory reaches... At this time, the Rob_A interpolation module is turned off, and only the Rob_B interpolation module is active. After the Rob_B interpolation module has calculated the robot's second trajectory segment, that is, when the robot's total running time for the second trajectory segment reaches... At this point, the Rob_B interpolation module is shut down, completing the continuous and smooth operation of the robot's two trajectory segments. This ensures that the corresponding interpolation module can stop working promptly after completing the interpolation calculation for each trajectory segment, preventing the interpolation module from consuming system resources and causing potential errors after completing its task.

[0075] Furthermore, simulations were performed on both the robot's Cartesian trajectory without and with the continuous trajectory planning method of this invention, yielding the following results: Figure 6 and Figure 7 , Figure 6 The image shows a simulation of a Cartesian trajectory for a robot that does not use continuous trajectory planning methods. Figure 7 To observe the simulation diagram of the Cartesian trajectory of the robot using the continuous trajectory planning method. Figure 6 and Figure 7 It can be seen that after the continuous trajectory planning method is used to complete the continuous smooth transition of two trajectory segments, the two trajectory segments are smoothly transitioned, realizing the smooth transition of cooperative trajectory in Cartesian space and improving the adaptability of the system workstation.

[0076] To prevent the interpolation module of the additional axis from still occupying system resources after completing its task, in an optional implementation, after step S204 above, the method further includes:

[0077] Step S501: If the second interpolation running time reaches the total running time corresponding to the third path, stop the interpolation calculation for the third path.

[0078] Step S502: When the fourth interpolation running time reaches the total running time corresponding to the fourth path, stop the interpolation calculation for the fourth path. The fourth interpolation running time is the duration of the interpolation calculation for the fourth path.

[0079] In the above embodiments, such as Figure 5 As shown, when the Add A interpolation module finishes calculating the first segment of the trajectory, that is, when the total running time of the Add A axis on the first segment of the trajectory reaches... When the Add_A interpolation module is disabled, only the Add_B interpolation module is active. This occurs after the Add_B interpolation module has completed calculating the second segment of the additional axis's trajectory, i.e., when the total runtime of the additional axis on the second segment of the trajectory reaches [a certain value]. When the Add_B interpolation module is closed, the continuous and smooth operation of the two segments of the additional axis trajectory is completed. This ensures that the corresponding interpolation module can stop working in a timely manner after the interpolation calculation of each segment of the trajectory is completed, avoiding the interpolation module from still occupying system resources and causing potential errors after completing its task.

[0080] Furthermore, by simulating joint motion curves that do not employ the continuous trajectory planning method of this invention, and simultaneously simulating joint motion curves that employ the continuous trajectory planning method of this invention, we can obtain the following results: Figure 8 and Figure 9 , Figure 8 The image shows a simulation of joint motion curves without using continuous trajectory planning. Figure 9 To observe the joint motion curve simulation diagram using the continuous trajectory planning method. Figure 8 and Figure 9 It can be seen that after the continuous trajectory planning method is used to complete the continuous and smooth transition of two trajectories, the robot's angle, angular acceleration, and displacement, velocity, and acceleration of the additional axis are continuous without abrupt changes, realizing the smooth transition of cooperative trajectory in joint space and improving the adaptability of the system workstation.

[0081] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0082] This application also provides a continuous trajectory planning device for the coordinated motion of an industrial robot and an additional axis. It should be noted that this device can be used to execute the continuous trajectory planning method for the coordinated motion of an industrial robot and an additional axis provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0083] The following describes the continuous trajectory planning device for the coordinated motion of an industrial robot and an additional axis provided in the embodiments of this application.

[0084] Figure 10 This is a structural block diagram of a continuous trajectory planning device for the coordinated motion of an industrial robot and an additional axis according to an embodiment of this application. Figure 10 As shown, the device includes:

[0085] The acquisition unit 10 is used to acquire a first motion parameter and a second motion parameter. The first motion parameter is the trajectory motion parameter of the robot, and the second motion parameter is the trajectory motion parameter of the additional axis. The first motion parameter includes at least a first distance and a second distance of the robot on the first target continuous trajectory, and the second motion parameter includes at least a third distance and a fourth distance of the additional axis on the second target continuous trajectory. The first target continuous trajectory is two consecutive trajectories of the robot in a three-dimensional coordinate system, and the second target continuous trajectory is two consecutive trajectories of the additional axis parallel to the target plane. The target plane is a plane formed by any two coordinate axes in the three-dimensional coordinate system.

[0086] Specifically, the robot motion control system obtains the aforementioned first and second motion parameters based on multiple segments of trajectory taught by the user. For example, the robot's first path... Second leg And the third path of the additional shaft and the fourth journey Where i = 1, 2, ..., n, i represents the number of the trajectory.

[0087] The calculation unit 20 is used to calculate the transition time of the robot's continuous trajectory based on the first motion parameter and to calculate the transition time of the additional axis continuous trajectory based on the second motion parameter. The transition time of the robot's continuous trajectory is the time for the two segments of the first target continuous trajectory to transition, and the transition time of the additional axis continuous trajectory is the time for the two segments of the second target continuous trajectory to transition.

[0088] Specifically, in order to enable the robot and the additional axis to transition smoothly between two continuous trajectories, it is necessary to calculate the transition time of the robot during the transition between the two trajectories based on the first motion parameter mentioned above, i.e., the transition time of the robot's continuous trajectory, and to calculate the transition time of the additional axis during the transition between the two trajectories based on the second motion parameter, i.e., the transition time of the additional axis's continuous trajectory.

[0089] The first interpolation unit 30 is used to simultaneously perform interpolation calculation on the second path when the first interpolation running time reaches the first transition time, so that the first path and the second path transition smoothly and continuously. The first interpolation running time is the duration of the interpolation calculation on the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the robot's continuous trajectory.

[0090] Specifically, for the first leg The interpolation calculation is performed by the Rob_A interpolation module, while the interpolation calculation for the second path is performed by the Rob_B interpolation module. When the Rob_A interpolation module reaches the first transition time, the Rob_B interpolation module is simultaneously started to perform the interpolation calculation for the second path. Interpolation calculations are performed to enable continuous operation of the robot's two trajectories.

[0091] The second interpolation unit 40 is used to simultaneously perform the interpolation calculation on the fourth path when the second interpolation running time reaches the second transition time, so that the third path and the fourth path can transition smoothly and continuously. The second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the continuous trajectory of the additional axis.

[0092] Specifically, regarding the third leg The interpolation calculation is performed by the Add_A interpolation module for the additional axis, specifically for the fourth path. The interpolation calculation is performed by the Add_B interpolation module. When the Add_A interpolation module reaches the second transition time, the Add_B interpolation module is simultaneously started to perform the interpolation on the fourth path. Interpolation calculations are performed to achieve continuous operation of the two segments of the trajectory on the additional axis.

[0093] In this embodiment, the acquisition unit is used to acquire a first motion parameter and a second motion parameter. The first motion parameter is the robot's trajectory motion parameter, and the second motion parameter is the trajectory motion parameter of the additional axis. The first motion parameter includes at least a first distance and a second distance traveled by the robot on the first target continuous trajectory, and the second motion parameter includes at least a third distance and a fourth distance traveled by the additional axis on the second target continuous trajectory. The first target continuous trajectory is two consecutive trajectories of the robot in a three-dimensional coordinate system, and the second target continuous trajectory is two consecutive trajectories of the additional axis parallel to a target plane. The target plane is a plane formed by any two coordinate axes in the three-dimensional coordinate system. The calculation unit is used to calculate the transition time of the robot's continuous trajectory based on the first motion parameter and the transition time of the additional axis continuous trajectory based on the second motion parameter. The robot's continuous trajectory transition time is the time for the two trajectories of the first target continuous trajectory to transition. The trajectory transition time is the time for the transition between two segments of the continuous trajectory of the second target; the first interpolation unit is used to simultaneously perform interpolation calculation on the second path when the first interpolation running time reaches the first transition time, so that the first path and the second path transition smoothly and continuously, the first interpolation running time is the duration of the interpolation calculation on the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the continuous trajectory of the robot; the second interpolation unit is used to simultaneously perform interpolation calculation on the fourth path when the second interpolation running time reaches the second transition time, so that the third path and the fourth path transition smoothly and continuously, the second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the continuous trajectory of the additional axis. This application obtains two trajectory parameters of the robot (first motion parameters) and two trajectory parameters of the auxiliary axis (second motion parameters), and determines the corresponding trajectory transition time based on these parameters. The robot and the auxiliary axis simultaneously begin interpolation calculations for the first trajectory segment. Based on the trajectory transition time, the start time for interpolation of the robot's second trajectory segment and the start time for interpolation of the auxiliary axis's second trajectory segment are determined, allowing for synchronous interpolation calculations. This enables smooth trajectory transitions for the coordinated motion of the robot and the auxiliary axis in Cartesian space and joint space. This application solves the problem in existing technologies where the continuity of the velocity curves during the transition segment of the coordinated motion of the robot and the auxiliary axis cannot be guaranteed.

[0094] To facilitate the analysis and optimization of the motion trajectory of the robot and its additional axes, in one optional embodiment, the acquisition unit includes:

[0095] The first calculation module calculates the distance between the starting point and the ending point of the first segment of the continuous trajectory of the first target to obtain the first distance of the robot, and calculates the distance between the starting point and the ending point of the second segment of the continuous trajectory of the first target to obtain the second distance of the robot.

[0096] The second calculation module calculates the distance between the starting point and the ending point of the first segment of the continuous trajectory of the second target on the additional axis to obtain the third distance corresponding to the additional axis, and calculates the distance between the starting point and the ending point of the second segment of the continuous trajectory of the second target on the additional axis to obtain the fourth distance corresponding to the additional axis.

[0097] In the above embodiments, Figure 3 A schematic diagram of the continuous trajectory of the robot and its additional axes, such as... Figure 3 As shown, the robot motion control system calculates the robot's first distance based on the distances between the starting points and corresponding ending points of the multiple trajectories taught by the user. Second route The third path of the additional shaft and the fourth journey Of course, when teaching, users can also directly teach the robot and the two trajectory paths corresponding to the additional axis, that is, the first path, the second path, the third path and the fourth path can be directly taught and set.

[0098] To ensure the continuity of the velocity curve, in one optional implementation, the above-mentioned calculation unit includes:

[0099] The third calculation module calculates the first total running time, the first deceleration segment running time, the second total running time, and the first acceleration segment running time of the robot based on the first motion parameters. The first total running time is the running time of the robot on the first path, the first deceleration segment running time is the running time of the deceleration segment on the first path, the second total running time is the running time on the second path, and the first acceleration segment running time is the running time of the acceleration segment on the second path.

[0100] The first determining module takes the smaller value between the running time of the first deceleration segment and the running time of the first acceleration segment as the transition time of the robot's continuous trajectory.

[0101] The fourth calculation module calculates the third total running time, the second deceleration segment running time, the fourth total running time, and the second acceleration segment running time corresponding to the additional shaft based on the second motion parameters. The third total running time is the running time of the additional shaft on the third path, the second deceleration segment running time is the running time of the deceleration segment on the third path, the second total running time is the running time on the fourth path, and the second acceleration segment running time is the running time of the acceleration segment on the fourth path.

[0102] The second determining module uses the smaller of the second deceleration segment running time and the second acceleration segment running time as the transition time of the additional axis continuous trajectory.

[0103] In the above embodiments, the first motion parameter further includes the robot's velocity constraint v. rob_max The acceleration constraint of the robot a rob_max The robot's jerk constraint j rob_max By substituting the first motion parameter into the corresponding calculation formula, the robot's first total running time can be calculated. First deceleration phase running time Second total running time and the first acceleration phase running time Compare the first journey of the robots deceleration segment running time Second route acceleration segment runtime Take the smaller value as the transition time T of the robot's continuous trajectory. rob_trans ,Right now Similarly, the second motion parameter mentioned above also includes the velocity constraint v of the additional axis. add_max Additional axis acceleration constraint a add_max And the jerk constraint j of the additional axis add_max By substituting the first motion parameters into the corresponding calculation formula, the third total running time of the additional axis can be calculated. Second deceleration phase running time Fourth total running time Second acceleration segment running time Compare additional axle distances deceleration segment running time and journey acceleration segment runtime Take the smaller value as the transition time T of the additional axis continuous trajectory add_trans ,Right now When a robot or an auxiliary axis switches from one trajectory to another, a long transition time may cause a step or discontinuity in the velocity curve. Taking a smaller value as the transition time helps to ensure the continuity of the velocity curve and avoid sudden velocity changes.

[0104] To accurately calculate the running time of each segment of the robot's trajectory and provide a data foundation for subsequent interpolation calculations, in one optional implementation, the third calculation module includes:

[0105] The first calculation submodule is used to execute the first calculation step. Given that the initial velocity of the i-th segment of the robot's trajectory is 0, it calculates the first stage time according to the first formula, and then calculates twice the first stage time to obtain the acceleration running time. The first stage time is the duration when the jerk is constant. The first formula is... T j1 v represents the time of the first stage mentioned above. rob_max To represent the above velocity constraint, j rob_max The above-mentioned jerk constraint is represented by v0, which represents the initial velocity of the robot in the i-th segment of the trajectory.

[0106] The second calculation submodule is used to execute the second calculation step. When the initial velocity of the i-th segment of the robot's trajectory is not zero, it calculates the first stage time according to the second formula and substitutes this first stage time into the third formula to calculate the acceleration time. The second formula is: a not_max The above acceleration constraint is represented by the third formula.

[0107] The third calculation submodule is used to execute the third calculation step. When the termination speed of the i-th segment of the robot's trajectory is 0, it calculates the second stage time according to the fourth formula, and calculates twice the second stage time to obtain the deceleration running time. This deceleration running time is then determined as the first deceleration segment running time. The first stage time is the duration when the acceleration is constant. The fourth formula is... T j2 v represents the time of the second stage mentioned above. rob_max To represent the above velocity constraint, j rob_max v1 represents the aforementioned jerk constraint, and v1 represents the aforementioned termination velocity of the robot in the aforementioned i-th segment of the trajectory;

[0108] The fourth calculation submodule is used to execute the fourth calculation step. When the termination speed of the i-th segment of the robot's trajectory is not zero, it calculates the second stage time according to the fifth formula, substitutes the second stage time into the sixth formula to calculate the deceleration running time, and determines the deceleration running time as the first deceleration segment running time. The fifth formula is... a rob_max Representing the above acceleration constraints, the sixth formula is:

[0109] The fifth calculation submodule is used to execute the fifth calculation step, which calculates the uniform velocity phase time of the robot according to the seventh formula, which is:

[0110] The sixth calculation submodule is used to execute the sixth calculation step, which adds the above acceleration running time, the above deceleration running time and the above uniform speed stage time to obtain the total running time;

[0111] The seventh calculation submodule is used to determine the total running time corresponding to the i-th segment of the trajectory as the first total running time, update i to i+1, and repeat the first calculation step, the second calculation step, the third calculation step, the fourth calculation step, the fifth calculation step, and the sixth calculation step once in sequence to obtain the second total running time corresponding to the i+1-th segment of the trajectory and the running time of the first acceleration segment. The running time of the first acceleration segment is the acceleration running time of the i+1-th segment of the trajectory.

[0112] In the above embodiments, the first motion parameters further include the robot's velocity constraints, acceleration constraints, and jerk constraints. For each trajectory segment, the robot can calculate the running time of the acceleration segment (i.e., the acceleration running time), the running time of the deceleration segment (i.e., the deceleration running time), and the running time of the constant speed segment (i.e., the constant speed phase time). Adding these times together yields the robot's total running time for that trajectory segment. For the first trajectory segment, only the running time of the deceleration segment and the total running time are considered; for the second trajectory segment, only the running time of the acceleration segment and the total running time are considered. The running time of the acceleration segment is related to the robot's initial velocity on that trajectory segment. When the initial velocity is 0, it is calculated using the first formula; when the initial velocity is not 0, it is calculated using the second and third formulas. The running time of the deceleration segment is related to the robot's final velocity on that trajectory segment. When the final velocity is 0, it is calculated using the fourth formula; when the final velocity is not 0, it is calculated using the fifth and sixth formulas. The time for the constant velocity segment can be directly calculated using the seventh formula. The acceleration segment time, deceleration segment time, and total running time for each segment of the trajectory on the additional axis are also calculated using the same method. The only difference is the specific values ​​of the parameters in each formula.

[0113] To ensure coordinated movement between the robot and the additional axis, in one optional embodiment, the device further includes:

[0114] The third interpolation unit is used to perform the interpolation calculation on the first path of the robot after calculating the transition time of the robot's continuous trajectory based on the first motion parameters and the transition time of the additional axis's continuous trajectory based on the second motion parameters, and simultaneously perform the interpolation calculation on the third path of the additional axis.

[0115] In the above embodiments, Figure 4 and Figure 5 These are schematic diagrams showing the activation of the robot's continuous trajectory interpolation module and the additional axis continuous trajectory interpolation module, respectively. Figure 4 and Figure 5 As shown, initiate trajectory interpolation for the robot and the additional axis. First, use the Robot_A interpolation module to interpolate the aforementioned first path. Perform interpolation calculations, using the Add_A interpolation module for the third path. Interpolation calculations are performed. Interpolation is the process of generating intermediate path points between key points on a known path to ensure that the robot or additional axes can move smoothly and continuously from one point to another. This synchronous interpolation calculation is crucial for achieving coordinated motion between the robot and the additional axes, ensuring their coordinated movement.

[0116] To prevent the robot's interpolation module from consuming system resources after completing its task, in one optional embodiment, the device further includes:

[0117] The first stop interpolation unit is used to perform interpolation calculation on the second path synchronously when the first interpolation running time reaches the first transition time, and then stop performing the interpolation calculation on the first path when the first interpolation running time reaches the total running time corresponding to the first path.

[0118] The second stop interpolation unit is used to stop performing the interpolation calculation on the second path when the third interpolation running time reaches the total running time of the second path. The third interpolation running time is the duration of performing the interpolation calculation on the second path.

[0119] In the above embodiments, such as Figure 4 As shown, when the robot Rob A interpolation module finishes calculating the first segment of the trajectory, that is, when the robot's total running time for the first segment of the trajectory reaches... At this time, the Rob_A interpolation module is turned off, and only the Rob_B interpolation module is active. After the Rob_B interpolation module has calculated the robot's second trajectory segment, that is, when the robot's total running time for the second trajectory segment reaches... At this point, the Rob_B interpolation module is shut down, completing the continuous and smooth operation of the robot's two trajectory segments. This ensures that the corresponding interpolation module can stop working promptly after completing the interpolation calculation for each trajectory segment, preventing the interpolation module from consuming system resources and causing potential errors after completing its task.

[0120] Furthermore, simulations were performed on both the robot's Cartesian trajectory without and with the continuous trajectory planning method of this invention, yielding the following results: Figure 6 and Figure 7 , Figure 6 The image shows a simulation of a Cartesian trajectory for a robot that does not use continuous trajectory planning methods. Figure 7 To observe the simulation diagram of the Cartesian trajectory of the robot using the continuous trajectory planning method. Figure 6 and Figure 7It can be seen that after the continuous trajectory planning method is used to complete the continuous smooth transition of two trajectory segments, the two trajectory segments are smoothly transitioned, realizing the smooth transition of cooperative trajectory in Cartesian space and improving the adaptability of the system workstation.

[0121] To prevent the interpolation module of the additional axis from still occupying system resources after completing its task, in an optional embodiment, the device further includes:

[0122] The third stop interpolation unit is used to perform the interpolation calculation on the fourth path synchronously when the second interpolation running time reaches the second transition time, and then stop performing the interpolation calculation on the third path when the second interpolation running time reaches the total running time corresponding to the third path.

[0123] The fourth interpolation stop unit is used to stop interpolating the fourth path when the fourth interpolation running time reaches the total running time corresponding to the fourth path. The fourth interpolation running time is the duration of the interpolation calculation for the fourth path.

[0124] In the above embodiments, such as Figure 5 As shown, when the Add A interpolation module finishes calculating the first segment of the trajectory, that is, when the total running time of the Add A axis on the first segment of the trajectory reaches... When the Add_A interpolation module is disabled, only the Add_B interpolation module is active. This occurs after the Add_B interpolation module has completed calculating the second segment of the additional axis's trajectory, i.e., when the total runtime of the additional axis on the second segment of the trajectory reaches [a certain value]. When the Add_B interpolation module is closed, the continuous and smooth operation of the two segments of the additional axis trajectory is completed. This ensures that the corresponding interpolation module can stop working in a timely manner after the interpolation calculation of each segment of the trajectory is completed, avoiding the interpolation module from still occupying system resources and causing potential errors after completing its task.

[0125] Furthermore, by simulating joint motion curves that do not employ the continuous trajectory planning method of this invention, and simultaneously simulating joint motion curves that employ the continuous trajectory planning method of this invention, we can obtain the following results: Figure 8 and Figure 9 , Figure 8 The image shows a simulation of joint motion curves without using continuous trajectory planning. Figure 9 To observe the joint motion curve simulation diagram using the continuous trajectory planning method. Figure 8 and Figure 9 It can be seen that after the continuous trajectory planning method is used to complete the continuous and smooth transition of two trajectories, the robot's angle, angular acceleration, and displacement, velocity, and acceleration of the additional axis are continuous without abrupt changes, realizing the smooth transition of cooperative trajectory in joint space and improving the adaptability of the system workstation.

[0126] The aforementioned continuous trajectory planning device for the coordinated motion of an industrial robot and an additional axis includes a processor and a memory. The acquisition unit, calculation unit, and first interpolation unit are all stored as program units in the memory, and the processor executes these program units to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0127] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem in existing technologies where the continuity of the velocity curve during the transition between two segments of the robot's and the additional axis's coordinated motion cannot be guaranteed.

[0128] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0129] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the continuous trajectory planning method for the coordinated motion of the industrial robot and the additional axis.

[0130] This invention provides a processor for running a program, wherein the program executes the continuous trajectory planning method for the coordinated motion of the industrial robot and the additional axis.

[0131] This invention provides a continuous trajectory planning system for the cooperative motion of an industrial robot and an additional axis. The system includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0132] Step S201: Obtain first motion parameters and second motion parameters. The first motion parameters are the trajectory motion parameters of the robot, and the second motion parameters are the trajectory motion parameters of the additional axis. The first motion parameters include at least the first and second distances of the robot on the first target continuous trajectory, and the second motion parameters include at least the third and fourth distances of the additional axis on the second target continuous trajectory. The first target continuous trajectory is two consecutive trajectories of the robot in the three-dimensional coordinate system, and the second target continuous trajectory is two consecutive trajectories of the additional axis parallel to the target plane. The target plane is a plane formed by any two coordinate axes in the three-dimensional coordinate system.

[0133] Step S202: Calculate the transition time of the robot's continuous trajectory based on the first motion parameters and calculate the transition time of the additional axis continuous trajectory based on the second motion parameters. The transition time of the robot's continuous trajectory is the time for the two segments of the first target continuous trajectory to transition, and the transition time of the additional axis continuous trajectory is the time for the two segments of the second target continuous trajectory to transition.

[0134] Step S203: When the first interpolation running time reaches the first transition time, the second path is interpolated simultaneously to make the first path and the second path transition smoothly and continuously. The first interpolation running time is the duration of the interpolation calculation for the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the robot's continuous trajectory.

[0135] Step S204: When the second interpolation running time reaches the second transition time, the interpolation calculation is performed synchronously on the fourth path, so that the third path and the fourth path transition smoothly and continuously. The second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the continuous trajectory of the additional axis.

[0136] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0137] Step S201: Obtain first motion parameters and second motion parameters. The first motion parameters are the trajectory motion parameters of the robot, and the second motion parameters are the trajectory motion parameters of the additional axis. The first motion parameters include at least the first and second distances of the robot on the first target continuous trajectory, and the second motion parameters include at least the third and fourth distances of the additional axis on the second target continuous trajectory. The first target continuous trajectory is two consecutive trajectories of the robot in the three-dimensional coordinate system, and the second target continuous trajectory is two consecutive trajectories of the additional axis parallel to the target plane. The target plane is a plane formed by any two coordinate axes in the three-dimensional coordinate system.

[0138] Step S202: Calculate the transition time of the robot's continuous trajectory based on the first motion parameters and calculate the transition time of the additional axis continuous trajectory based on the second motion parameters. The transition time of the robot's continuous trajectory is the time for the two segments of the first target continuous trajectory to transition, and the transition time of the additional axis continuous trajectory is the time for the two segments of the second target continuous trajectory to transition.

[0139] Step S203: When the first interpolation running time reaches the first transition time, the second path is interpolated simultaneously to make the first path and the second path transition smoothly and continuously. The first interpolation running time is the duration of the interpolation calculation for the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the robot's continuous trajectory.

[0140] Step S204: When the second interpolation running time reaches the second transition time, the interpolation calculation is performed synchronously on the fourth path, so that the third path and the fourth path transition smoothly and continuously. The second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the continuous trajectory of the additional axis.

[0141] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0142] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0143] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0144] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0145] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0146] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0147] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0148] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0149] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0150] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0151] 1) The continuous trajectory planning method for the cooperative motion of an industrial robot and an auxiliary axis in this application obtains two trajectory parameters of the robot (i.e., the first motion parameters) and two trajectory parameters of the auxiliary axis (i.e., the second motion parameters), and determines the corresponding trajectory transition time based on the trajectory parameters. The robot and the auxiliary axis simultaneously begin interpolation calculations for the first trajectory segment. Based on the trajectory transition time, the start interpolation time for the second trajectory segment of the robot and the second trajectory segment of the auxiliary axis are determined, allowing for synchronous interpolation calculations. This enables smooth trajectory transitions for the cooperative motion of the robot and the auxiliary axis in Cartesian space and joint space. This application solves the problem in the prior art that the velocity curve of the transition segment of the two trajectories in the cooperative motion of the robot and the auxiliary axis cannot be guaranteed to be continuous.

[0152] 2) The continuous trajectory planning device for the coordinated motion of an industrial robot and an auxiliary axis in this application obtains two trajectory parameters of the robot (i.e., the first motion parameters) and two trajectory parameters of the auxiliary axis (i.e., the second motion parameters), and determines the corresponding trajectory transition time based on the trajectory parameters. The robot and the auxiliary axis simultaneously begin interpolation calculations for the first trajectory segment. Based on the trajectory transition time, the start interpolation time for the second trajectory segment of the robot and the second trajectory segment of the auxiliary axis are determined, allowing for synchronous interpolation calculations. This enables smooth trajectory transitions for the coordinated motion of the robot and the auxiliary axis in Cartesian space and joint space. This application solves the problem in the prior art that the velocity curve of the transition segment of the two trajectories in the coordinated motion of the robot and the auxiliary axis cannot be guaranteed to be continuous.

[0153] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A continuous trajectory planning method for the coordinated motion of an industrial robot and an additional axis, characterized in that, include: Obtain a first motion parameter and a second motion parameter. The first motion parameter is the trajectory motion parameter of the robot, and the second motion parameter is the trajectory motion parameter of the additional axis. The first motion parameter includes at least the first distance and the second distance of the robot on the first target continuous trajectory. The second motion parameter includes at least the third distance and the fourth distance of the additional axis on the second target continuous trajectory. The first target continuous trajectory is two consecutive trajectories of the robot in a three-dimensional coordinate system. The second target continuous trajectory is two consecutive trajectories of the additional axis parallel to the target plane. The target plane is the plane formed by any two coordinate axes in the three-dimensional coordinate system. The robot continuous trajectory transition time is calculated based on the first motion parameters, and the additional axis continuous trajectory transition time is calculated based on the second motion parameters. The robot continuous trajectory transition time is the time for the transition between two segments of the first target continuous trajectory, and the additional axis continuous trajectory transition time is the time for the transition between two segments of the second target continuous trajectory. When the first interpolation running time reaches the first transition time, the second path is interpolated simultaneously to make the first path and the second path transition smoothly and continuously. The first interpolation running time is the duration of the interpolation calculation for the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the robot's continuous trajectory. When the second interpolation running time reaches the second transition time, the interpolation calculation is performed synchronously on the fourth path, so that the third path and the fourth path transition smoothly and continuously. The second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the continuous trajectory of the additional axis.

2. The method according to claim 1, characterized in that, Obtain the first motion parameters and the second motion parameters, including: The distance between the starting point and the ending point of the first segment of the continuous trajectory of the first target is calculated to obtain the first distance traveled by the robot, and the distance between the starting point and the ending point of the second segment of the continuous trajectory of the first target is calculated to obtain the second distance traveled by the robot. The distance between the starting point and the ending point of the first segment of the continuous trajectory of the second target is calculated to obtain the third distance corresponding to the additional axis, and the distance between the starting point and the ending point of the second segment of the continuous trajectory of the second target is calculated to obtain the fourth distance corresponding to the additional axis.

3. The method according to claim 1, characterized in that, Calculating the transition time of the robot's continuous trajectory based on the first motion parameters, and calculating the transition time of the additional axis's continuous trajectory based on the second motion parameters, includes: The robot's first total running time, first deceleration segment running time, second total running time, and first acceleration segment running time are calculated based on the first motion parameters. The first total running time is the running time of the robot on the first path, the first deceleration segment running time is the running time of the deceleration segment on the first path, the second total running time is the running time on the second path, and the first acceleration segment running time is the running time of the acceleration segment on the second path. The smaller value between the first deceleration segment runtime and the first acceleration segment runtime is taken as the transition time of the robot's continuous trajectory. The third total running time, the second deceleration segment running time, the fourth total running time, and the second acceleration segment running time corresponding to the additional shaft are calculated based on the second motion parameters. The third total running time is the running time of the additional shaft on the third path, the second deceleration segment running time is the running time of the deceleration segment on the third path, the second total running time is the running time on the fourth path, and the second acceleration segment running time is the running time of the acceleration segment on the fourth path. The smaller of the second deceleration segment running time and the second acceleration segment running time is taken as the transition time of the additional axis continuous trajectory.

4. The method according to claim 3, characterized in that, The first motion parameters also include the robot's velocity constraints, acceleration constraints, and jerk constraints. The calculation of the robot's first total running time, first deceleration segment running time, second total running time, and first acceleration segment running time based on the first motion parameters includes: The first calculation step involves calculating the first stage time according to a first formula when the initial velocity of the i-th segment of the robot's trajectory is 0. Then, the acceleration time is calculated by doubling the first stage time. The first stage time is the duration when the acceleration is constant. The first formula is... T j1 v represents the time of the first stage. rob_max Represents the velocity constraint, j rob_max The jerk constraint is represented by v0, which represents the initial velocity of the robot in the i-th segment of the trajectory. The second calculation step involves calculating the first stage time according to the second formula when the initial velocity of the i-th segment of the robot's trajectory is not zero. This first stage time is then substituted into the third formula to calculate the acceleration time. The second formula is... a rob_max The acceleration constraint is represented by the third formula. The third calculation step involves calculating the second stage time according to the fourth formula when the termination speed of the i-th segment of the robot's trajectory is 0. This second stage time is then doubled to obtain the deceleration time, which is defined as the first deceleration segment running time. The first stage time is the duration when the acceleration is constant. The fourth formula is... T j2 Indicates the time of the second stage, v rob_max Represents the velocity constraint, j rob_max v1 represents the acceleration constraint, and v1 represents the termination velocity of the robot in the i-th segment of the trajectory; The fourth calculation step involves calculating the second stage time according to the fifth formula when the termination speed of the i-th segment of the robot's trajectory is not zero. This second stage time is then substituted into the sixth formula to calculate the deceleration time, which is then determined as the first deceleration segment running time. The fifth formula is... a rob_max The sixth formula represents the acceleration constraint. The fifth calculation step involves calculating the uniform velocity phase time of the robot according to the seventh formula, which is: Indicates the first distance; The sixth calculation step is to add the acceleration time, the deceleration time, and the constant speed phase time together to obtain the total running time. The total running time corresponding to the i-th trajectory segment is determined as the first total running time. i is updated to i+1. The first calculation step, the second calculation step, the third calculation step, the fourth calculation step, the fifth calculation step, and the sixth calculation step are repeated once in sequence to obtain the second total running time and the first acceleration segment running time corresponding to the i+1-th trajectory segment. The first acceleration segment running time is the acceleration running time of the i+1-th trajectory segment.

5. The method according to claim 1, characterized in that, After calculating the transition time of the robot's continuous trajectory based on the first motion parameters and the transition time of the additional axis's continuous trajectory based on the second motion parameters, the method further includes: The interpolation calculation is performed on the first path of the robot, and the interpolation calculation is also performed on the third path of the additional axis.

6. The method according to claim 1, characterized in that, After the first interpolation running time reaches the first transition time, and the second path is interpolated synchronously, the method further includes: If the first interpolation running time reaches the total running time corresponding to the first distance, the interpolation calculation for the first distance shall be stopped. If the third interpolation running time reaches the total running time of the second path, the interpolation calculation for the second path is stopped, where the third interpolation running time is the duration of the interpolation calculation for the second path.

7. The method according to claim 1, characterized in that, When the second interpolation running time reaches the second transition time, after synchronously performing the interpolation calculation on the fourth path, the method further includes: If the second interpolation running time reaches the total running time corresponding to the third path, the interpolation calculation for the third path shall be stopped. If the fourth interpolation running time reaches the total running time corresponding to the fourth path, the interpolation calculation for the fourth path is stopped. The fourth interpolation running time is the duration of the interpolation calculation for the fourth path.

8. A continuous trajectory planning device for the coordinated motion of an industrial robot and an additional axis, characterized in that, The device includes: The acquisition unit is used to acquire a first motion parameter and a second motion parameter. The first motion parameter is the trajectory motion parameter of the robot, and the second motion parameter is the trajectory motion parameter of the additional axis. The first motion parameter includes at least a first distance and a second distance of the robot on the first target continuous trajectory, and the second motion parameter includes at least a third distance and a fourth distance of the additional axis on the second target continuous trajectory. The first target continuous trajectory is two consecutive trajectories of the robot in a three-dimensional coordinate system, and the second target continuous trajectory is two consecutive trajectories of the additional axis parallel to the target plane. The target plane is a plane formed by any two coordinate axes in the three-dimensional coordinate system. The calculation unit is used to calculate the transition time of the robot's continuous trajectory based on the first motion parameters, and to calculate the transition time of the additional axis continuous trajectory based on the second motion parameters. The transition time of the robot's continuous trajectory is the time for the two segments of the first target continuous trajectory to transition, and the transition time of the additional axis continuous trajectory is the time for the two segments of the second target continuous trajectory to transition. The first interpolation unit is used to simultaneously perform interpolation calculation on the second path when the first interpolation running time reaches the first transition time, so that the first path and the second path transition smoothly and continuously. The first interpolation running time is the duration of the interpolation calculation on the first path of the robot, and the first transition time is the difference between the total running time of the robot on the first path and the transition time of the robot's continuous trajectory. The second interpolation unit is used to simultaneously perform the interpolation calculation on the fourth path when the second interpolation running time reaches the second transition time, so that the third path and the fourth path transition smoothly and continuously. The second interpolation running time is the duration of the interpolation calculation on the third path of the additional axis, and the second transition time is the difference between the total running time of the additional axis on the third path and the transition time of the continuous trajectory of the additional axis.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the method described in any one of claims 1 to 7.

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