一种机器人实时轨迹平滑方法、装置、设备及存储介质

By using anomaly detection and unified temporal buffer processing, abnormal trajectory points are identified and corrected, and continuous smooth trajectories are generated. This solves the problems of insufficient continuity and frequency instability in robot trajectory processing, and improves the smoothness and stability of motion.

CN122231922BActive Publication Date: 2026-07-17DAIMON (SHENZHEN) ROBOTICS TECHNOLOGY CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
DAIMON (SHENZHEN) ROBOTICS TECHNOLOGY CO LTD
Filing Date
2026-05-22
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Existing robot trajectory processing methods suffer from insufficient trajectory continuity, difficulty in ensuring continuous velocity and acceleration, susceptibility to jitter during rapid reciprocating motion, lack of effective suppression of abnormal jump points, communication jitter and sensor errors leading to abrupt changes in control commands, unstable input frequency causing fluctuations in sampling intervals, and multi-buffered distributed architecture causing inconsistencies in time bases and data redundancy.

Method used

Abnormal trajectory points are removed by anomaly detection correction, fixed-frequency resampling is achieved using a unified time buffer, and the control point sequence is smoothed. A dynamic judgment threshold is constructed to identify abnormal jump points, and historical trajectory points are used for amplitude limiting correction to generate continuous and smooth trajectory output.

Benefits of technology

It effectively reduces robot motion jitter, improves the smoothness, stability and naturalness of trajectory tracking, ensures the continuity of speed and acceleration, solves the problems caused by unstable input frequency and multi-buffer distributed architecture, and provides trajectory input at a fixed frequency.

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Abstract

本申请涉及一种机器人实时轨迹平滑方法、装置、设备及存储介质，涉及机器人运动控制的技术领域，该方法通过对接收到的原始离散轨迹点进行异常检测与修正，生成有效轨迹点；将有效轨迹点写入统一时序缓冲区，响应于预设的固定采样时钟，从统一时序缓冲区中提取轨迹控制点，以生成具有固定时间间隔的轨迹控制点序列；对轨迹控制点序列进行平滑处理，生成目标连续轨迹，并将目标连续轨迹输出至机器人控制器；本申请的技术方案通过异常检测修正剔除异常轨迹点、采用统一时序缓冲区实现统一缓存、依托固定采样时钟完成固定频率重采样，并对控制点序列平滑处理实现连续平滑输出，可有效降低机器人运动抖动，显著提高轨迹跟踪的平顺性、稳定性与自然性。
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Citation Information

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