A robotic arm trajectory blending control method, device and storage medium

Abstract

The present invention relates to the field of robotic arm control technology, and in particular to a robotic arm trajectory blending control method, device and storage medium. The method comprises: setting the blending duration of each trajectory segment, and calculating the maximum blending duration of each trajectory segment; comparing the maximum blending duration of each initial trajectory segment with the corresponding set blending duration; if the maximum blending trajectory duration is greater than or equal to the set blending duration, determining the actual blending duration of the initial trajectory segment according to the set blending duration; determining the trajectory blending point of each initial trajectory segment based on the actual blending duration; and blending axial motion and axial motion, axial motion and Cartesian motion, and Cartesian motion and Cartesian motion based on the trajectory blending duration rather than the blending radius, thereby improving the smoothness and efficiency of operation.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arm control, and in particular to a robotic arm trajectory blending control method, device, and storage medium. Background Art

[0002] A robot or robotic arm follows a trajectory, controlled by motion instructions. After velocity algorithm planning, each trajectory (such as a straight line or arc) generated by each motion instruction achieves smooth motion. However, at the intersections between the trajectories, the angles and lengths between the trajectories vary, making it difficult to achieve a smooth transition without deceleration. This can lead to pauses or vibrations.

[0003] In the existing technology, the geometric smoothing method of Cartesian space trajectory is often used to process the motion trajectory. Based on the control function, the Bezier curve is calculated, and the velocity and acceleration information of the Bezier curve endpoints are solved by the Bezier curve equation passing through the control point. Combined with the set trajectory blending radius, the transition between the two continuous motion trajectories before and after is smoothed.

[0004] However, the blending radius is set to a fixed value, which makes it difficult to apply flexibly. Moreover, the blending radius is set in Cartesian motion space, which makes it difficult to apply adaptively when continuous motion trajectory planning is suitable for other control analysis algorithms. In addition, the speed and acceleration are easy to determine when passing the blending point without slowing down, but the unreasonable selection of control points will result in an unsatisfactory speed of the robot arm when passing the blending point.

[0005] Based on the problems in the prior art, the present invention provides a robot arm trajectory blending control method, device and storage medium. Summary of the Invention

[0006] The purpose of the present invention is to provide a robot arm trajectory blending control method, device and storage medium to solve the technical problems in the prior art of setting the trajectory blending radius to make two continuous trajectories transition smoothly, with a single usage scenario and difficulty in controlling to achieve the ideal effect.

[0007] The technical solution of the present invention is: a method for controlling the blending of robot arm trajectories, comprising: obtaining acceleration and deceleration parameters and acceleration and deceleration curves of each segment of the initial trajectory to be run by the end of the robot arm, and setting the blending time; when the movement of the robot arm enters the blending time interval, providing feedback to the upper layer and issuing the next motion instruction; calculating the maximum blending time of two adjacent trajectory segments, comparing the maximum blending time with the corresponding set blending time, if the maximum trajectory blending time is greater than or equal to the set blending time, determining the actual blending time of the initial trajectory of the segment according to the set blending time; and determining the number of blending interpolation points between each segment of the initial trajectory based on the actual blending time.

[0008] Preferably, the blending formula function of the trajectory blending segment of two adjacent trajectory segments is expressed as ,

[0009] The position of the blending point is represented by S, and the calculation formula is: ;

[0010] Among them, x is the current fusion point index / total fusion points, ; Indicates the axis position of the previous track in the adjacent track; Indicates the axis position of the next track in the adjacent track;

[0011] The following curve constraints are met:

[0012] The slopes at the beginning and end of the curve are both 0; the starting value of the curve is 0, and the ending value is 1; the curve shape is an S-shaped transition curve; the third-order derivative of the curve is a continuous function;

[0013] Includes one of the following functions: polynomial function, exponential function, and trigonometric function.

[0014] Preferably, the motion forms of two adjacent track segments respectively include one of a straight line, a spline-like curve, and an arc curve;

[0015] Alternatively, the motion modes of the two trajectories each include one of axis motion and Cartesian motion.

[0016] Preferably, if the motion mode of two adjacent trajectories is axis motion, then is the axis position of the previous trajectory, is the axis position of the next trajectory;

[0017] If one section of the trajectory is Cartesian motion and the other section is axis motion, then the Cartesian motion is inversely solved to the axis position, then is the axis position obtained by inverse solution of the previous trajectory, is the axis position of the next trajectory;

[0018] If both trajectories are Cartesian motions, then is the Cartesian position of the previous trajectory, For the Cartesian position of the next trajectory, the S obtained by blending is inversely solved to the axis position to complete the motion interpolation.

[0019] Preferably, the states of each trajectory to be run by the end of the robot arm include: motion state, waiting trajectory blending state, blending state, and blending alignment state;

[0020] The state switching process is:

[0021] Send the motion trajectory, switch the state to the motion state, and perform motion without trajectory blending segments;

[0022] When entering the set trajectory blending radius, the state switches to waiting for trajectory blending;

[0023] The host computer sends a motion command. If the set trajectory blending time is greater than half of the issued motion time, the system enters the trajectory blending alignment state. Otherwise, the system enters the blending state.

[0024] After the interpolation points are consumed, the system enters the motion state again and repeats the cycle.

[0025] Preferably, the method for obtaining the trajectory blending radius is as follows:

[0026] Assume that the remaining time of the trajectory is t, if ,but, ;like , then the maximum trajectory blending time = the given trajectory blending time.

[0027] Preferably, if one section of the trajectory is Cartesian motion and the other section of the trajectory is axial motion, the method for blending the Cartesian motion and the axial motion is as follows:

[0028] Inversely solve the Cartesian coordinates to the axis space, and the axis coordinates of the stretched axis are expressed as , the axis coordinate of the rotation axis is expressed as , the axis coordinate of the vertical axis is expressed as ;

[0029] Where x, y, and z are the coordinates of the robot's finger tips;

[0030] The blended axis coordinates are:

[0031] ;

[0032] ;

[0033] ;

[0034] in, Indicates the axis coordinates of the stretch axis in the blending state, Indicates the trajectory coordinates of the extension axis of the front section of the fusion, Indicates the trajectory coordinates of the extension axis of the posterior segment of fusion, Indicates the axis coordinate of the rotation axis in the blended state, Indicates the coordinates of the rotation axis trajectory before the fusion, Indicates the coordinates of the rotation axis trajectory after the blending. Indicates the axis coordinate of the vertical axis in the blending state, represents the trajectory coordinates of the vertical axis before the fusion, represents the trajectory coordinates of the vertical axis after the blending, and S represents the position coordinates of the blending point.

[0035] Preferably, if both trajectories are Cartesian motions, S1 is the Cartesian position of the previous trajectory, and S2 is the Cartesian position of the next trajectory; the Cartesian-Cartesian motion blending process is as follows:

[0036] The Cartesian coordinates are blended, and the blending formula is:

[0037] ;

[0038] ;

[0039] ;

[0040] in, represents the Cartesian x-axis coordinate of the blend, Indicates the x-axis coordinate of the front section of the blend, Indicates the x-coordinate of the posterior segment of the blend; represents the Cartesian x-coordinate resulting from the blend, Indicates the y coordinate of the front section of the blend, Indicates the y coordinate of the posterior segment of the blend; represents the Cartesian z coordinate resulting from the blend, Indicates the z coordinate of the front section of the blending, It represents the z coordinate of the blended segment, and S represents the position coordinate of the blending point.

[0041] An electronic device, characterized in that the device includes a processor and a memory, the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the described method for controlling the trajectory blending of a robotic arm.

[0042] A computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the robot arm trajectory blending control method.

[0043] Compared with the prior art, the advantages of the present invention are:

[0044] The present invention provides a robot arm trajectory blending control method, which includes: setting the blending duration of each trajectory segment and calculating the maximum blending duration of each trajectory segment; comparing the maximum blending duration of each initial trajectory segment with the corresponding set blending duration; if the maximum blending trajectory duration is greater than or equal to the set blending duration, determining the actual blending duration of the initial trajectory segment according to the set blending duration; determining the trajectory blending point of each initial trajectory segment based on the actual blending duration; based on the trajectory blending duration rather than the blending radius, blending in all motion modes (axis motion and axis motion blending, axis motion and Cartesian motion blending, Cartesian motion and Cartesian motion blending) can be achieved, thereby improving the smoothness and efficiency of operation.

[0045] By obtaining the initial trajectory and corresponding parameters of the robotic arm, the fusion time threshold of the trajectories at both ends of the robotic arm is calculated. Based on the above fusion time threshold, the motion connection and motion efficiency of the robotic arm can be improved, and the safety and stability of the robotic arm during movement can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0047] Figure 1 A method block diagram of the robot arm trajectory blending control method according to the present invention;

[0048] Figure 2 A schematic diagram of a speed-time curve of the trajectory blending of the present invention;

[0049] Figure 3 This is a flow chart of execution control of the trajectory blending segment of the present invention;

[0050] Figure 4 This is a schematic diagram of a curve showing how the blending weights of two trajectories change with the number of blending points during the trajectory blending process described in the present invention. DETAILED DESCRIPTION

[0051] The present invention will be described in further detail below with reference to specific embodiments:

[0052] like Figure 1 As shown, an embodiment of the present invention provides a robot arm trajectory blending control method, comprising the following steps:

[0053] Step 1: Obtain the acceleration and deceleration parameters, acceleration and deceleration curves, and set blending time for each segment of the initial trajectory to be run by the end of the robot arm. When the robot arm moves within the blending time, feedback is given to the upper layer, and the next motion instruction can be issued.

[0054] Step 2: Calculate the maximum blending time of the two trajectories and compare the maximum blending time with the corresponding set blending time. If the maximum trajectory blending time is greater than or equal to the set blending time, determine the actual blending time of the initial trajectory according to the set blending time.

[0055] Based on the acceleration and deceleration parameters of the initial trajectory, the running time of the corresponding trajectory is calculated. The maximum trajectory blending time is half of the running time of the corresponding trajectory after completion.

[0056] Step 3: Based on the actual blending duration, determine the number of blending interpolation points between each initial trajectory segment.

[0057] The present invention does not require issuing multiple trajectories in advance to calculate the maximum blending time. Instead, a blending time parameter is added to the trajectory. When the trajectory enters the blending radius, a communication instruction is sent to the host computer, which issues the next trajectory, calculates the maximum blending time, and calculates the corresponding number of interpolation points.

[0058] Furthermore, in order to better perform trajectory blending and control the movement of the robotic arm, the present invention further provides a state switching management method, and the switching states include motion state, waiting trajectory blending state, blending state, and blending alignment state.

[0059] The method for obtaining the above trajectory blending radius is as follows:

[0060] Assume that the remaining time of the trajectory is t, if ,but, ;like , then the maximum trajectory blending time = the given trajectory blending time.

[0061] Refer to the attached Figure 3 As shown in the flowchart in, the state switching process is:

[0062] Send the motion track, and switch the state to the no-track blending segment (motion state). Figure 2 Section A in the

[0063] Before entering the set trajectory blending radius, the state switches to the waiting trajectory blending state. Figure 2 Section B in the

[0064] The host computer sends a motion command. If the set trajectory blending time is greater than half of the motion (trajectory) time issued, it enters the blending alignment state. Otherwise, it enters the blending state. Figure 2 The C section in the.

[0065] Refer to the attached Figure 2 The D segment in the previous track is set, see the attached Figure 2The third curve from right to left has a blending time equal to the sum of D+C, which exceeds the next trajectory (see Figure 2 In the figure, the second curve from right to left) is half of its movement time (half of the running time is C); if the two adjacent trajectories cannot enter the trajectory blending state at the set blending time node, the waiting blending state of the previous trajectory will be extended (the trajectory blending time point is delayed), and the two trajectories will enter the blending and alignment state until the blending conditions are met, enter the trajectory blending state, and smoothly transition the trajectories.

[0066] Therefore, by setting a maximum trajectory blending time, the robot arm maintains robust motion within a normal controllable range and avoids blending anomalies. For example, if the set blending time exceeds the running time of the next trajectory, the timing will not align, the interpolation points will not match, and the two trajectories will not be connected, resulting in abnormal device operation or even malfunction. This provides a "foolproof" protection for the robot arm's motion control.

[0067] In addition, not all adjacent tracks will merge into one another. Figure 2 From the speed-time curves of the last two trajectories (the first and second curves from right to left), it can be seen that there is no trajectory blending between the previous trajectory (the second to last curve from right to left) and the next trajectory (the speed curve on the far right).

[0068] After the interpolation points are exhausted, the system enters the motion state and repeats the cycle.

[0069] The embodiment of the present invention obtains the initial trajectory and corresponding parameters of the robotic arm and calculates the blending time threshold of the trajectories at both adjacent ends of the robotic arm. Based on the blending time threshold, the motion connection and motion efficiency of the robotic arm can be improved, thereby improving the safety and stability of the robotic arm during movement.

[0070] Define the number of interpolation points as the horizontal coordinate and the transition weight of the second trajectory as the vertical coordinate. Obtain a curve diagram of trajectory weight-number of interpolation points to reflect the transition process of two adjacent trajectories in the blending state, ensuring the continuity of velocity and acceleration during the transition process. For the curve diagram, refer to the attached Figure 4 shown.

[0071] The blending formula function of the trajectory blending segment is expressed as , the position of the blending point is represented by S, and the calculation formula is: .

[0072] Among them, x is the current fusion point index / total fusion points, ; Indicates the axis position of the previous track in the adjacent track; Indicates the axis position of the next track in the adjacent track.

[0073] The following curve constraints are met:

[0074] The slopes at the beginning and end of the curve are both 0; the starting value of the curve is 0, and the ending value is 1; the shape of the curve is an S-shaped transition curve; the third-order derivative of the curve is a continuous function.

[0075] The second and third derivatives of are continuous, ensuring the continuity of acceleration and jerk. In practical applications, Any one of a polynomial function, an exponential function, and a trigonometric function can be used.

[0076] For example, Using a polynomial equation, it is exemplified as: , satisfying the above constraints.

[0077] By the attached Figure 4 It can be seen that the weight (percentage) interval of the second trajectory is [0-1]. Starting from the first interpolation point of the blending, the weight of the first trajectory is 1 and the weight of the second trajectory is 0. As the transition proceeds, the weight of the first trajectory decreases and the weight of the second trajectory increases until the weight of the second trajectory becomes 1, completing the blending process and transitioning to the second trajectory.

[0078] The following provides an application example of limiting the blending process by the blending duration.

[0079] Example 1:

[0080] If the motion mode of the two trajectories is axis motion, then is the axis position of the previous trajectory, The axis position of the next trajectory.

[0081] The blended axis coordinates are:

[0082] ;

[0083] ;

[0084] ;

[0085] in, Indicates the axis coordinates of the stretch axis in the blending state, Indicates the trajectory coordinates of the extension axis of the front section of the fusion, Indicates the trajectory coordinates of the extension axis of the posterior segment of fusion, Indicates the axis coordinate of the rotation axis in the blended state, Indicates the coordinates of the rotation axis trajectory before the fusion, Indicates the coordinates of the rotation axis trajectory after the blending. Indicates the axis coordinate of the vertical axis in the blending state, represents the trajectory coordinates of the vertical axis before the fusion, represents the trajectory coordinates of the vertical axis after the blending, and S represents the position coordinates of the blending point.

[0086] Example 2:

[0087] If one section of the trajectory is Cartesian motion and the other section is axis motion, then the Cartesian motion is inversely solved to the axis position, then is the axis position obtained by inverse solution of the previous trajectory, The axis position of the next trajectory.

[0088] The integration process of Cartesian motion and axis motion is as follows:

[0089] Inversely solve the Cartesian coordinates to the axis space, and the axis coordinates of the stretched axis are expressed as , the axis coordinate of the rotation axis is expressed as , the axis coordinate of the vertical axis is expressed as ;

[0090] Where x, y, and z are the coordinates of the robot's finger tips;

[0091] The blended axis coordinates are:

[0092] ;

[0093] ;

[0094] ;

[0095] in, Indicates the axis coordinates of the stretch axis in the blending state, Indicates the trajectory coordinates of the extension axis of the front section of the fusion, Indicates the trajectory coordinates of the extension axis of the posterior segment of fusion, Indicates the axis coordinate of the rotation axis in the blended state, Indicates the coordinates of the rotation axis trajectory before the fusion, Indicates the coordinates of the rotation axis trajectory after the blending. Indicates the axis coordinate of the vertical axis in the blending state, represents the trajectory coordinates of the vertical axis before the fusion, represents the trajectory coordinates of the vertical axis after the blending, and S represents the position coordinates of the blending point.

[0096] Example 3:

[0097] If both trajectories are Cartesian motions, then is the Cartesian position of the previous trajectory, For the Cartesian position of the next trajectory, the S obtained by blending is inversely solved to the axis position, and then motion interpolation is performed.

[0098] The method of the Cartesian-Cartesian integration process is as follows:

[0099] The Cartesian coordinates are blended, and the blending formula is:

[0100] ;

[0101] ;

[0102] ;

[0103] in, represents the Cartesian x-axis coordinate of the blend, Indicates the coordinate of the x-axis of the front section of the blend, Indicates the x-coordinate of the posterior segment of the blend; represents the Cartesian x-coordinate resulting from the blend, Indicates the y coordinate of the front section of the blend, Indicates the y coordinate of the posterior segment of the blend; represents the Cartesian z coordinate resulting from the blend, Indicates the z coordinate of the front section of the blending, It represents the z coordinate of the blended segment, and S represents the position coordinate of the blending point.

[0104] Cartesian coordinates The inverse solution is converted to the axis space, and the axis coordinates of the stretched axis are expressed as , the axis coordinate of the rotation axis is expressed as , the axis coordinate of the vertical axis is expressed as .

[0105] Since Cartesian motion belongs to Cartesian space motion, and axial motion belongs to joint space motion, Cartesian coordinates are important elements in Cartesian motion, and angle elements are the main elements in axial motion. Therefore, the purpose of the inverse solution is to unify the quantitative units of the two adjacent trajectories in the blending state, so as to maintain the continuity of speed and acceleration during the transition between the two trajectories and the smooth connection of the trajectories.

[0106] Enter the blending state, call the interpolation function, and perform motion interpolation.

[0107] For example, if the blending duration is set to 0.2 seconds and the interpolation period is set to 1 millisecond (equally spaced durations), the number of interpolation points is 0.2 seconds / 0.1 millisecond = 200.

[0108] Due to the use of blending time, the movement forms of the two trajectories are respectively one of the following: straight line, spline curve, and circular curve.

[0109] Compared with the method of using the blending radius, the motion trajectory is no longer limited to one form of Cartesian motion and has a wider range of adaptability.

[0110] An embodiment of the present invention also provides an electronic device, which includes a processor and a memory; the memory stores one or more instructions, and the one or more instructions are suitable for the processor to load and execute to implement a robot arm trajectory blending control method as described in the above method embodiment.

[0111] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for functions, etc.; the data storage area can store data created based on the use of the device, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0112] The internal structure of the electronic device provided by the embodiment of the present invention may include but is not limited to: a processor, a memory and a communication interface, wherein the processor, memory and communication interface in the electronic device may be connected via a bus or other means. In the embodiments of this specification, connection via a bus is used as an example.

[0113] Among them, the processor (or CPU, Central Processing Unit) is the computing core and control core of the electronic device. The communication interface is used for communication between the memory and the processor. The memory is used to store programs and data. It can be understood that the memory here can be a high-speed RAM storage device or a non-volatile memory device (non-volatile memory), such as at least one disk storage device; optionally, it can also be at least one storage device located away from the aforementioned processor. The memory provides a storage space, which stores the operating system of the electronic device, which may include but is not limited to: Windows system (an operating system), Linux system (an operating system), etc., and the present invention is not limited to this; and, the storage space also stores a computer program (including program code) suitable for being loaded and executed by the processor. In the embodiment of this specification, the processor loads and executes the computer program stored in the memory to implement a robot arm trajectory fusion control method provided in the above method embodiment.

[0114] An embodiment of the present invention also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction, at least one program, code set or instruction set related to the robot arm control fusion control method in the method embodiment. The at least one instruction, at least one program, code set or instruction set can be loaded and executed by the processor of the electronic device to implement a robot arm trajectory fusion control method provided by the above method embodiment.

[0115] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0116] It should be noted that the order of the embodiments of the present invention described above is for illustrative purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification, and other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0117] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0118] Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be accomplished by hardware, or by programs instructing related hardware to accomplish the steps. The programs may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0119] The above disclosure is only a preferred embodiment of the present invention and certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A robot arm trajectory blending control method, characterized in that: include; Obtain the acceleration and deceleration parameters and acceleration and deceleration curves of each initial trajectory to be run by the end of the robot arm, and set the blending time; When the robot arm's movement enters the blending time interval, it will provide feedback to the upper layer and issue the next movement instruction; Calculate the maximum blending time of two adjacent trajectories, compare the maximum blending time with the corresponding set blending time, and if the maximum trajectory blending time is greater than or equal to the set blending time, determine the actual blending time of the initial trajectory according to the set blending time; Determining the number of blending interpolation points between each initial trajectory segment based on the actual blending duration; The states of each trajectory to be run by the end of the robot arm include: motion state, waiting trajectory blending state, blending state, and blending alignment state; the state switching process is as follows: Send the motion trajectory, switch the state to the motion state, and perform motion without trajectory blending segments; When entering the set trajectory blending radius, the state switches to waiting for trajectory blending; The host computer sends a motion command. If the set trajectory blending time is greater than half of the issued motion time, it enters the blending alignment state, otherwise it enters the blending state. After the interpolation points are consumed, the system enters the motion state again and repeats the cycle.

2. A robot arm trajectory blending control method according to claim 1, characterized in that: The blending formula function of the trajectory blending segment of two adjacent trajectory segments is expressed as , the position of the blending point is denoted as S; The calculation formula is: ; Among them, x is the current fusion point index / total fusion points, ; Indicates the axis position of the previous track in the adjacent track; Indicates the axis position of the next track in the adjacent track; The following curve constraints are met: The slopes at the beginning and end of the curve are both 0; the starting value of the curve is 0, and the ending value is 1; the curve shape is an S-shaped transition curve; the third-order derivative of the curve is a continuous function; Includes one of the following functions: polynomial function, exponential function, and trigonometric function.

3. A robot arm trajectory blending control method according to claim 2, characterized in that: The motion forms of two adjacent trajectories include one of a straight line, a spline-like curve, and a circular curve; Alternatively, the motion modes of the two trajectories each include one of axis motion and Cartesian motion.

4. A robot arm trajectory blending control method according to claim 2, characterized in that: If the motion mode of two adjacent trajectories is axis motion, then is the axis position of the previous trajectory, is the axis position of the next trajectory; If one section of the trajectory is Cartesian motion and the other section is axis motion, then the Cartesian motion is inversely solved to the axis position, then is the axis position obtained by inverse solution of the previous trajectory, is the axis position of the next trajectory; If both trajectories are Cartesian motions, then is the Cartesian position of the previous trajectory, For the Cartesian position of the next trajectory, the S obtained by blending is inversely solved to the axis position to complete the motion interpolation.

5. The robot arm trajectory blending control method according to claim 1, characterized in that: The method for obtaining the trajectory blending radius is as follows: Assume that the remaining time of the trajectory is t, if ,but, ;like , then the maximum trajectory blending time = the given trajectory blending time.

6. A robot arm trajectory blending control method according to claim 3, characterized in that: If one track is Cartesian motion and the other track is axis motion, the integration process of Cartesian motion and axis motion is as follows: Inversely solve the Cartesian coordinates to the axis space, and the axis coordinates of the stretched axis are expressed as , the axis coordinates of the rotation axis are expressed as , the axis coordinate of the vertical axis is expressed as ; Where x, y, and z are the coordinates of the robot's finger tips; The blended axis coordinates are: ； ； ； in, Indicates the axis coordinates of the stretch axis in the blending state, Indicates the trajectory coordinates of the extension axis of the front section of the fusion, Indicates the trajectory coordinates of the extension axis of the posterior segment of fusion, Indicates the axis coordinate of the rotation axis in the blended state, Indicates the coordinates of the rotation axis trajectory before the fusion, Indicates the coordinates of the rotation axis trajectory after the blending. Indicates the axis coordinate of the vertical axis in the blending state, represents the trajectory coordinates of the vertical axis before the fusion, represents the trajectory coordinates of the vertical axis after the blending, and S represents the position coordinates of the blending point.

7. A robot arm trajectory blending control method according to claim 3, characterized in that: If both trajectories are Cartesian motions, then S1 is the Cartesian position of the previous trajectory, and S2 is the Cartesian position of the next trajectory. The method for the Cartesian-Cartesian motion blending process is as follows: The Cartesian coordinates are blended, and the blending formula is: ； ； ； in, represents the Cartesian x-axis coordinate of the blend, Indicates the x-axis coordinate of the front section of the blend, Indicates the x-coordinate of the posterior segment of the blend; represents the Cartesian x-coordinate resulting from the blend, Indicates the y coordinate of the front section of the blend, Indicates the y coordinate of the posterior segment of the blend; represents the Cartesian z coordinate resulting from the blend, Indicates the z coordinate of the front section of the blending, It represents the z coordinate of the blended segment, and S represents the position coordinate of the blending point.

8. An electronic device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement a robot arm trajectory blending control method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement a robot arm trajectory blending control method according to any one of claims 1 to 7.

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