Robot time optimal speed planning method and system based on two-step linear programming

CN119858162AActive Publication Date: 2025-04-22HUAZHONG UNIV OF SCI & TECH
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Patent Information

Application Number
CN202510205490.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-02-24
Publication Date
2025-04-22
Estimated Expiration
2045-02-24

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Abstract

The invention belongs to the technical field of robot speed planning, and particularly relates to a robot time optimal speed planning method and system based on two-step linear programming, and the method comprises the steps: converting a robot speed time optimal speed planning optimization equation into a linearization function related to a B-spline control point based on a cubic B-spline curve; according to derivation analysis characteristics of the B spline, speed and acceleration constraints in a joint space and a Cartesian space in robot speed planning are converted into linear constraints expressed by control points of the B spline; the jerk constraint is scaled into a linear constraint equation through an inequality scaling method, and the constraint equation linearization of the dynamic moment is realized by adopting the inequality scaling method for the dynamic moment constraint; the robot speed planning optimization equation is decoupled into two linear planning sub-equations, and time optimal speed planning meeting third-order constraint and dynamic constraint is achieved through a two-step linear optimization method.
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Citation Information

Patent Citations

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