Mechanical arm multi-track continuous motion planning method and device and electronic equipment

Abstract

The invention relates to the technical field of mechanical arm trajectory planning, in particular to a multi-trajectory continuous motion planning method and device for a mechanical arm and electronic equipment, and the method comprises the following specific steps: S1, setting the maximum speed, the maximum acceleration and road points which the mechanical arm needs to pass through; s2, calculating a transition arc and determining a starting point and an ending point of the transition arc; s3, the maximum permissible speed and the maximum permissible acceleration of the mechanical arm on the track are determined; s4, according to the calculated maximum permissible speed and maximum permissible acceleration, the tracks of the mechanical arm in the straight line section and the arc section are restrained; and S5, equidistant interpolation is carried out on the trajectory, and interpolation points are calculated. According to the method, the transition arc is calculated in advance, the moving track of the mechanical arm is changed, the smooth arc-shaped movement mode in the turning process of the mechanical arm is achieved, the traditional 0-0 movement mode is different, the speed reduction process is greatly reduced, and the operating efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm trajectory planning, in particular to a robot arm multi-trajectory continuous motion planning method, device and electronic equipment. Background Art

[0002] At present, when the robot arm runs multiple trajectories, the 0-0 method is often used, that is, starting from zero speed, the speed is reduced to 0 at the end of a trajectory, and then connecting to the next trajectory. This method is accompanied by a large amount of deceleration process, which greatly reduces the operation efficiency of the robot arm and causes a waste of time and resources. Therefore, how to make the robot arm faster and smoother when moving continuously on multiple trajectories is a problem that needs to be solved at present. Summary of the invention

[0003] In view of the problems in the prior art, the present invention provides a method, device and electronic equipment for planning multi-trajectory continuous motion of a robot arm. The specific technical solutions are as follows:

[0004] On the one hand, the present application provides a method for multi-trajectory continuous motion planning of a robotic arm, the specific steps of which are as follows:

[0005] S1, set the maximum speed, maximum acceleration and waypoints that the robot needs to pass;

[0006] S2, calculating the transition arc and determining the starting point and the end point of the transition arc;

[0007] S3, determining the maximum allowable speed and maximum allowable acceleration of the robot arm on the trajectory;

[0008] S4, constraining the trajectory of the robot arm in the straight line segment and the arc segment according to the calculated maximum allowable speed and maximum allowable acceleration;

[0009] S5, interpolate at equal distances on the trajectory and calculate the interpolation points.

[0010] As a further technical solution of the present invention, the step of determining the transition arc and the transition starting point and end point in S2 is as follows:

[0011] S21, obtaining the target waypoints that the robot arm needs to move to, and each two adjacent waypoints are connected by a straight line trajectory. If the number of waypoints is not less than 3, a transition arc needs to be added, and then enter S22;

[0012] S22, select three adjacent target waypoints, and use them as the starting point P in order. i-1 (x i-1 ,y i-1 ,z i-1 ), the middle point P i (x i ,y i ,zi ), end point P i+1 (x i+1 ,y i+1 ,z i+1 ), where the starting point P i-1 and the middle point P i The first straight line track is between The length of the first straight line is L 1 , the middle point P i and end point P i+1 The second straight line track is between The length of the second straight line trajectory is L 2 ;

[0013]

[0014]

[0015]

[0016]

[0017] where x i-1 ,y i-1 ,z i-1 ,x i ,y i ,z i ,x i+1 ,y i+1 ,z i+1 are the spatial coordinates of the corresponding points respectively;

[0018] S23, will Unitize, and get from the starting point P i-1 (x i-1 ,y i-1 ,z i-1 ) points to the middle point P i (x i ,y i ,z i )'s unit vector Will Unitize, and get from the middle point P i (x i ,y i ,z i ) points to the end point P i+1 (x i+1 ,y i+1 ,z i+1 )'s unit vector

[0019]

[0020]

[0021] S24, calculate the center angle θ of the transition arc, and calculate the transition arc radius R according to the center angle θ and the set arc radius R. d , calculate the middle point P i To the transition arc starting point P s The expected distance L d ;

[0022]

[0023]

[0024] The symbol · represents the dot multiplication operation, and the symbol * represents the multiplication operation;

[0025] S25, usually, the transition arc cannot replace more than half of the adjacent straight line segments; compare L d , and Take the minimum value of the three as the middle point P i To the transition arc starting point P s The actual distance l and the actual radius R of the transition arc are calculated o ;

[0026]

[0027]

[0028] S26, calculate the middle point P i To the center P o The distance L from the middle point to the center of the circle Then calculate the coordinates P of the center of the circle o (x o ,y o ,z o );

[0029]

[0030]

[0031]

[0032] S27, according to the center P o , the middle point P i , unit vector and Calculate the direction vectors x and y, where the direction of x is the center of the circle P o Point to the transition arc starting point P s , the direction of y is perpendicular to x;

[0033]

[0034]

[0035] S28, according to the center P o , direction vectors x and y, calculate the transition arc starting point P s and transition arc end point P e location;

[0036] P s =P o +R o *x

[0037] P e =P o +R o *(x*cosθ+y*sinθ).

[0038] As a further technical solution of the present invention, the calculation method of the maximum allowable speed and the maximum allowable acceleration of the robot arm on the trajectory in S3 depends on the following formula:

[0039]

[0040]

[0041]

[0042]

[0043]

[0044] Where s is the length of the trajectory that the robot has currently traveled, and the corresponding position is q. f(s) is the function of the position q at the trajectory length s. The maximum allowable acceleration of the robot is a. m , the maximum allowable speed of the robot arm is v m , f'(s) and f”(s) are the slope and curvature of function f(s) at point s, respectively. and are the velocity and acceleration on the trajectory, and is the speed and acceleration of the robot in space, is the maximum allowed velocity of the trajectory obtained by the velocity constraint, is the maximum allowed acceleration of the trajectory obtained by the acceleration constraint, The minimum allowed acceleration of the trajectory obtained by the acceleration constraint, is the maximum allowed velocity of the trajectory under velocity constraint, is the maximum allowed velocity of the trajectory under acceleration constraint, Is and The maximum allowed velocity of the resulting trajectory.

[0045] As a further technical solution of the present invention, the method for constraining the trajectory of the robot arm in the straight line segment and the arc segment according to the maximum allowable speed and the maximum allowable acceleration in S4 is as follows:

[0046] S41, set the starting point of the path s = 0, the initial speed Plan the robot arm trajectory from the starting point;

[0047] S42, determining the maximum permissible speed and the maximum and minimum permissible acceleration on the first straight line, because the slope f'(s) on the straight line is constant and the curvature f"(s) is 0, as follows:

[0048]

[0049]

[0050]

[0051]

[0052]

[0053] S43, from the starting point Do forward integration and calculate the velocity and position of the subsequent trajectory. If Keep Until s ≥ l 1 , that is, the trajectory passes through the transition arc starting point P s ;

[0054]

[0055]

[0056] in is the speed at the next moment obtained by forward integration, s after is the position at the next moment obtained by forward integration, and Δt is the interval time;

[0057] S44, calculate the transition arc starting point P s Maximum permissible speed and Determine new From the transition arc starting point P s Start, order At minimum acceleration Perform reverse integration until it intersects with the trajectory of the forward integration, and replace the trajectory after the intersection point with the reverse integration trajectory;

[0058]

[0059]

[0060] in is the velocity at the previous moment obtained by reverse integration, s before is the position at the previous moment obtained by reverse integration;

[0061] S45, on the arc segment, perform forward integration and reverse integration in the same way to determine the trajectory on the arc segment; because the slope f'(s) and curvature f"(s) on the arc are not fixed, it is necessary to calculate each step of integration and

[0062] S46, performing forward integration and backward integration on the second straight line segment in the same manner to determine the trajectory on the second straight line segment;

[0063] S47, calculating interpolation points on the trajectory with an interval time Δt as a period.

[0064] In a second aspect, the present application provides a multi-trajectory continuous motion planning device for a robotic arm, which applies the above-mentioned multi-trajectory continuous motion planning method for a robotic arm, including:

[0065] A receiving module, used for receiving control information sent by the processor;

[0066] The sending module sends the robot arm information to the processor;

[0067] A conversion module converts the received control information into control signals for the joints of the robotic arm;

[0068] The control module controls the movement of the robot arm according to the control signal.

[0069] In a third aspect, the present application provides an electronic device for multi-trajectory continuous motion planning of a robotic arm, comprising: a memory, a processor, a controller and a communication interface, wherein the memory, processor, controller and communication interface are electrically connected to a bus, and the processor is used to execute the above-mentioned multi-trajectory continuous motion planning method of the robotic arm.

[0070] The beneficial effects of the present invention are as follows:

[0071] 1. The present invention pre-calculates the transition arc and changes the running trajectory of the robot arm to achieve a smooth arc motion during the turning process of the robot arm, which is different from the traditional 0-0 motion mode, reduces a large amount of deceleration process, and improves the operating efficiency of the robot arm.

[0072] 2. The present invention constrains the speed and acceleration of the robot arm at each point during its movement, integrates the maximum acceleration, and calculates the maximum allowable speed of the next point so that the robot arm can run at the maximum speed within the constraint range. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 A schematic diagram of the process structure of a multi-trajectory continuous motion planning method for a robotic arm is shown;

[0074] Figure 2 The structural schematic diagram of the arc transition path is shown;

[0075] Figure 3 A schematic diagram of the trajectory change structure on the arc transition path is shown;

[0076] Figure 4 The schematic diagram of the robot arm speed planning structure in Example 1 is shown;

[0077] Figure 5 A schematic diagram of the trajectory structure of the robot arm in Example 1 is shown;

[0078] Figure 6 A schematic structural diagram of an electronic device is shown. DETAILED DESCRIPTION

[0079] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0080] At present, when the robot arm runs multiple trajectories, the 0-0 method is often used, that is, starting from zero speed, the speed is reduced to 0 at the end of a trajectory, and then connecting to the next trajectory. This method is accompanied by a large amount of deceleration process, which greatly reduces the operation efficiency of the robot arm and causes a waste of time and resources. Therefore, how to make the robot arm faster and smoother when moving continuously on multiple trajectories is a problem that needs to be solved at present.

[0081] Based on the above technical problems, this application provides a multi-trajectory continuous motion planning method for a robotic arm. Figure 1 The schematic diagram of the process structure of the multi-trajectory continuous motion planning method of the robot arm is shown. Figure 1 In the multi-trajectory continuous motion planning method of the robot arm, the specific steps are as follows:

[0082] S1, set the maximum speed, maximum acceleration and waypoints that the robot needs to pass;

[0083] S2, calculating the transition arc and determining the starting point and the end point of the transition arc;

[0084] S3, determining the maximum allowable speed and maximum allowable acceleration of the robot arm on the trajectory;

[0085] S4, constraining the trajectory of the robot arm in the straight line segment and the arc segment according to the calculated maximum allowable speed and maximum allowable acceleration;

[0086] S5, interpolate at equal distances on the trajectory and calculate the interpolation points.

[0087] Figure 2 The structural schematic diagram of the arc transition path is shown; Figure 3 A schematic diagram of the trajectory change structure on the arc transition path is shown; Figure 2 and Figure 3 In the step of determining the transition arc and the transition starting point and end point in S2, the steps are as follows:

[0088] S21, obtaining the target waypoints that the robot arm needs to move to, and each two adjacent waypoints are connected by a straight line trajectory. If the number of waypoints is not less than 3, a transition arc needs to be added, and then enter S22;

[0089] S22, select three adjacent target waypoints, and use them as the starting point P in order. i-1 (x i-1 ,y i-1 ,z i-1 ), the middle point P i (x i ,y i ,z i ), end point P i+1 (x i+1 ,y i+1 ,z i+1 ), where the starting point P i-1 and the middle point P i The first straight line track is between The length of the first straight line is L 1 , the middle point P i and end point P i+1 The second straight line track is between The length of the second straight line trajectory is L 2 ;

[0090]

[0091]

[0092]

[0093]

[0094] where x i-1 ,y i-1,z i-1 ,x i ,y i ,z i ,x i+1 ,y i+1 ,z i+1 are the spatial coordinates of the corresponding points respectively;

[0095] S23, will Unitize, and get from the starting point P i-1 (x i-1 ,y i-1 ,z i-1 ) points to the middle point P i (x i ,y i ,z i )'s unit vector Will Unitize, and get from the middle point P i (x i ,y i ,z i ) points to the end point P i+1 (x i+1 ,y i+1 ,z i+1 )'s unit vector

[0096]

[0097]

[0098] S24, calculate the center angle θ of the transition arc, and calculate the transition arc radius R according to the center angle θ and the set arc radius R. d , calculate the middle point P i To the transition arc starting point P s The expected distance L d ;

[0099]

[0100]

[0101] The symbol · represents the dot multiplication operation, and the symbol * represents the multiplication operation;

[0102] S25, usually, the transition arc cannot replace more than half of the adjacent straight line segments; compare L d , and Take the minimum value of the three as the middle point P i To the transition arc starting point P s The actual distance l and the actual radius R of the transition arc are calculated o ;

[0103]

[0104]

[0105] S26, calculate the middle point P i To the center P o The distance L from the middle point to the center of the circle Then calculate the coordinates P of the center of the circle o (x o ,y o ,z o );

[0106]

[0107]

[0108]

[0109] S27, according to the center P o , the middle point P i , unit vector and Calculate the direction vectors x and y, where the direction of x is the center of the circle P o Point to the transition arc starting point P s , the direction of y is perpendicular to x;

[0110]

[0111]

[0112] S28, according to the center P o , direction vectors x and y, calculate the transition arc starting point P s and transition arc end point P e location.

[0113] P s =P o +R o *x

[0114] P e =P o +R o *(x*cosθ+y*sinθ)

[0115] The calculation method of the maximum allowable speed and the maximum allowable acceleration of the robot arm on the trajectory in S3 is as follows:

[0116] S31, assuming that the length of the trajectory currently passed by the robot arm is s, and the corresponding position is q, then there exists a function f(s), and the position q at the trajectory length s is given by the function f(s):

[0117] q=f(s)0≤s≤s f

[0118] s f = l 1 +l o +l 2

[0119] l 1 =||P s -P i-1 ||

[0120] l o =R o *θ

[0121] l 2 =||P i+1 -P e ||

[0122] where s f is the total length of the trajectory, l 1 Starting point P i-1 To the starting point P of the transition arc s The length of the straight line segment, l o is the length of the transition arc, l 2 The transition arc end point P e To the end point P i+1 The length of the straight line segment;

[0123] S32, according to the above formula, we can know the corresponding velocity and acceleration when the trajectory length is s;

[0124]

[0125]

[0126] Where f'(s) and f"(s) are the slope and curvature of function f(s) at point s, respectively. and are the velocity and acceleration on the trajectory respectively, d and dt are the differentials with respect to time;

[0127] S33, set the maximum allowable speed of the robot arm to v m , we can get and The constraint relationship, is the velocity of the robot in space:

[0128]

[0129]

[0130]

[0131]

[0132] S34, set the maximum allowable acceleration of the robot arm to a m , we can get and The constraint relationship, is the acceleration of the robot in space:

[0133]

[0134]

[0135] Here we need to discuss the following categories:

[0136] ①f′(s)>0:

[0137]

[0138]

[0139] ②f′(s)<0:

[0140]

[0141]

[0142] ③f′(s)=0, f″(s)≠0:

[0143]

[0144]

[0145]

[0146]

[0147] S35, therefore the maximum permissible speed of the robot on the trajectory and the maximum permissible acceleration for:

[0148]

[0149]

[0150]

[0151]

[0152]

[0153] in, is the maximum allowed velocity of the trajectory under velocity constraint, is the maximum allowed velocity of the trajectory under acceleration constraint, Is and The maximum allowed velocity of the trajectory is obtained, is the maximum allowed acceleration of the trajectory obtained by the acceleration constraint, The minimum allowed acceleration of the trajectory obtained by the acceleration constraint.

[0154] The method for constraining the trajectory of the robot arm in the straight line segment and the arc segment according to the maximum allowable speed and the maximum allowable acceleration in S4 is as follows:

[0155] S41, set the starting point of the path s = 0, the initial speed Plan the robot arm trajectory from the starting point;

[0156] S42, determining the maximum permissible speed and the maximum and minimum permissible acceleration on the first straight line, because the slope f'(s) on the straight line is constant and the curvature f"(s) is 0, as follows:

[0157]

[0158]

[0159]

[0160]

[0161]

[0162] S43, from the starting point Do forward integration and calculate the velocity and position of the subsequent trajectory. If Keep Until s ≥ l 1 , that is, the trajectory passes through the transition arc starting point P s ;

[0163]

[0164]

[0165] in is the speed at the next moment obtained by forward integration, s after is the position at the next moment obtained by forward integration, and Δt is the interval time;

[0166] S44, calculate the transition arc starting point P s Maximum permissible speed and Determine new From the transition arc starting point P s Start, order At minimum acceleration Perform reverse integration until it intersects with the trajectory of the forward integration, and replace the trajectory after the intersection point with the reverse integration trajectory;

[0167]

[0168]

[0169] in is the velocity at the previous moment obtained by reverse integration, s before is the position at the previous moment obtained by reverse integration;

[0170] S45, on the arc segment, perform forward integration and reverse integration in the same way to determine the trajectory on the arc segment; because the slope f'(s) and curvature f"(s) on the arc are not fixed, it is necessary to calculate each step of integration and

[0171] S46, performing forward integration and backward integration on the second straight line segment in the same manner to determine the trajectory on the second straight line segment;

[0172] S47, calculating interpolation points on the trajectory with an interval time Δt as a period.

[0173] Example 1: Figure 4 The schematic diagram of the robot arm speed planning structure in Example 1 is shown; Figure 5 A schematic diagram of the trajectory structure of the robot arm in Example 1 is shown; Figure 4 and Figure 5 middle:

[0174] Set the maximum allowable speed v of the robot arm m =0.6m / s, maximum allowable acceleration a m =0.8m / s 2 , the transition arc radius is set to 0.5m, the starting point P 1 is (0,0,0), passing through the waypoint P 2 (1,1,1) and waypoint P 3 (0,1,3).

[0175] Embodiment 2

[0176] In order to cooperate with the first embodiment, this embodiment provides a multi-trajectory continuous motion planning device for a robot arm, including:

[0177] A receiving module, used for receiving control information sent by the processor;

[0178] The sending module sends the robot arm information to the processor;

[0179] A conversion module converts the received control information into control signals for the joints of the robotic arm;

[0180] The control module controls the movement of the robot arm according to the control signal; for example, acceleration or braking.

[0181] Embodiment 3

[0182] In order to cooperate with the first embodiment, this embodiment provides a multi-trajectory continuous motion planning electronic device for a robot arm, Figure 6 A schematic diagram of the structure of an electronic device is shown; Figure 6 In the present invention, the electronic device for multi-trajectory continuous motion planning of the robot arm includes: a memory, a processor, a controller and a communication interface, and the memory, processor, controller and communication interface are electrically connected to a bus.

[0183] The memory should be a non-volatile computer-readable storage medium that can be executed by the processor and is used to store computer programs. The memory can be outside of an independent electronic device and accessed by the processor through a bus interface; it can also be integrated into the processor and directly accessed by the processor. Usually, the memory includes but is not limited to: U disk, mobile hard disk, read-only memory, random access memory, disk or optical disk and other media that can store program code.

[0184] The processor can be considered as a processing module that runs the computer program stored in the controller, and when the computer program is run by the processor, it can execute all or part of the steps of the method described in the present invention. At the same time, the processor should have the ability to send control information to the controller or receive information sent by the controller.

[0185] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. A multi-trajectory continuous motion planning method for a robotic arm, characterized in that: The specific steps are as follows: S1, set the maximum speed, maximum acceleration and waypoints that the robot needs to pass; S2, calculating the transition arc and determining the starting point and the end point of the transition arc; S3, determining the maximum allowable speed and maximum allowable acceleration of the robot arm on the trajectory; S4, constraining the trajectory of the robot arm in the straight line segment and the arc segment according to the calculated maximum allowable speed and maximum allowable acceleration; S5, interpolate at equal distances on the trajectory and calculate the interpolation points.

2. The method for multi-trajectory continuous motion planning of a robotic arm according to claim 1, characterized in that: The steps of determining the transition arc and the transition start and end points in S2 are as follows: S21, obtaining the target waypoints that the robot arm needs to move to, and each two adjacent waypoints are connected by a straight line trajectory. If the number of waypoints is not less than 3, a transition arc needs to be added, and then enter S22; S22, select three adjacent target waypoints, and use them as the starting point P in order. i-1 (x i-1 ,yi-1,z i-1 ), the middle point P i (x i ,y i ,z i ), end point P i+1 (x i+1 ,y i+1 ,z i+1 ), where the starting point P i-1 and the middle point P i The first straight line track is between The length of the first straight line trajectory is L1, and the middle point P i and end point P i+1 The second straight line track is between The length of the second straight line trajectory is L2; where x i-1 ,y i-1 ,z i-1 ,x i ,y i ,z i ,x i+1 ,y i+1 ,z i+1 are the spatial coordinates of the corresponding points respectively; S23, will Unitize, and get from the starting point P i-1 (x i-1 ,yi-1,z i-1 ) points to the middle point P i (x i ,yi,z i ) Will Unitize, and get from the middle point P i (x i ,y i ,z i ) points to the end point P i+1 (x i+1 ,y i+1 ,z i+1 ) S24, calculate the center angle θ of the transition arc, and calculate the transition arc radius R according to the center angle θ and the set arc radius R. d , calculate the middle point P i To the transition arc starting point P s The expected distance L d ; The symbol · represents the dot multiplication operation, and the symbol * represents the multiplication operation; S25, usually, the transition arc cannot replace more than half of the adjacent straight line segments; compare L d , and Take the minimum value of the three as the middle point P i To the transition arc starting point P s The actual distance l and the actual radius R of the transition arc are calculated o ; S26, calculate the middle point P i To the center P o The distance L from the middle point to the center of the circle Then calculate the coordinates P of the center of the circle o (x o ,y o ,z o ); S27, according to the center P o , the middle point P i , unit vector and Calculate the direction vectors x and y, where the direction of x is the center of the circle P o Point to the starting point P of the transition arc s , the direction of y is perpendicular to x; S28, according to the center P o , direction vectors x and y, calculate the transition arc starting point P s and transition arc end point P e location; P s =P o +R o *x P e =P o +R o *(x*cosθ+y*sinθ)。 3. The method for multi-trajectory continuous motion planning of a robotic arm according to claim 2, characterized in that: The calculation method of the maximum allowable speed and the maximum allowable acceleration of the robot arm on the trajectory in S3 depends on the following formula: Where s is the length of the trajectory that the robot has currently traveled, and the corresponding position is q. f(s) is the function of the position q at the trajectory length s. The maximum allowable acceleration of the robot is a. m , the maximum allowable speed of the robot arm is v m , f'(s) and f”(s) are the slope and curvature of function f(s) at point s, respectively. and are the velocity and acceleration on the trajectory, and is the speed and acceleration of the robot in space, is the maximum allowed velocity of the trajectory obtained by the velocity constraint, is the maximum allowed acceleration of the trajectory obtained by the acceleration constraint, The minimum allowed acceleration of the trajectory obtained by the acceleration constraint, is the maximum allowed velocity of the trajectory under velocity constraint, is the maximum allowed velocity of the trajectory under acceleration constraint, Is and The maximum allowed velocity of the resulting trajectory.

4. The method for multi-trajectory continuous motion planning of a robotic arm according to claim 2, characterized in that: The method for constraining the trajectory of the robot arm in the straight line segment and the arc segment according to the maximum allowable speed and the maximum allowable acceleration in S4 is as follows: S41, set the starting point of the path s = 0, the initial speed Plan the robot arm trajectory from the starting point; S42, determining the maximum permissible speed and the maximum and minimum permissible acceleration on the first straight line, because the slope f'(s) on the straight line is constant and the curvature f"(s) is 0, as follows: S43, from the starting point Do forward integration and calculate the velocity and position of the subsequent trajectory. If Keep Until s ≥ l1, that is, the trajectory passes through the transition arc starting point P s ; in is the velocity at the next moment obtained by forward integration, s after is the position at the next moment obtained by forward integration, and Δt is the interval time; S44, calculate the transition arc starting point P s Maximum permissible speed and Determine new From the transition arc starting point P s Start, order At minimum acceleration Perform reverse integration until it intersects with the trajectory of the forward integration, and replace the trajectory after the intersection point with the reverse integration trajectory; in is the velocity at the previous moment obtained by reverse integration, s before is the position at the previous moment obtained by reverse integration; S45, on the arc segment, perform forward integration and reverse integration in the same way to determine the trajectory on the arc segment; because the slope f'(s) and curvature f"(s) on the arc are not fixed, it is necessary to calculate each step of integration and S46, performing forward integration and backward integration on the second straight line segment in the same manner to determine the trajectory on the second straight line segment; S47, calculating interpolation points on the trajectory with an interval time Δt as a period.

5. A multi-trajectory continuous motion planning device for a robotic arm, using the multi-trajectory continuous motion planning method for a robotic arm as described in any one of claims 1 to 4, characterized in that: include: A receiving module, used for receiving control information sent by the processor; The sending module sends the robot arm information to the processor; A conversion module converts the received control information into control signals for the joints of the robotic arm; The control module controls the movement of the robot arm according to the control signal.

6. Electronic equipment for multi-trajectory continuous motion planning of robotic arms, including: A memory, a processor, a controller and a communication interface, wherein the memory, the processor, the controller and the communication interface are electrically connected to a bus, and wherein the processor is used to execute the multi-trajectory continuous motion planning method for a robotic arm as described in any one of claims 1 to 4.

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