A multi-axis robot path planning optimization method and system

Abstract

The application relates to the technical field of path optimization, in particular to a multi-axis robot path planning optimization method and system, which comprises the following steps: collecting current positions and start-stop intervals of multi-motion-axis joints, calculating motion distances of the joints and converting the motion distances into interval occupation ratios, combining the current positions to generate initial path points through interpolation, comparing the occupation ratios of the multi-path-point joint combinations to determine a leading constraint direction, mapping and cutting the motion ranges of the remaining joints according to residual interval ratios, screening path points meeting constraint conditions, and checking path sequence consistency and joint displacement continuity to form an optimized motion path of the robot. In the application, the interval ratio description of the multi-motion-axis joints is introduced, the interval occupation state is introduced to participate in path screening, the leading constraint direction is determined, the remaining joint intervals are mapped and cut, the multi-axis motion ratios are coordinated, invalid displacement is reduced, and the cooperativity and motion smoothness are improved.

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