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39 results about "Optimal trajectory planning" patented technology
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Model-constraint-based mechanical arm energy optimal trajectory planning control method and device
PendingCN108621157AReduce consumptionImprove real-time performanceProgramme controlProgramme-controlled manipulatorDynamic modelsEngineering
The invention relates to a model-constraint-based mechanical arm energy optimal trajectory planning control method and device. The model-constraint-based mechanical arm energy optimal trajectory planning control method comprises the steps that initial conditions are set and mechanical arm joint angle position description with respect to time is calculated and obtained through a cubic spline interpolation algorithm; on base of the mechanical arm joint angle position description and in combination with a dynamics model, a continuous function of moment with respect to time is obtained; a nonlinear constrained planning model taking mechanical arm movement energy consumption as the optimizing target is established, and in combination with the mechanical arm joint angle position description, thecontinuous function of the moment with respect to time and friction force energy consumption, energy consumption of a target function is solved; and on base of the nonlinear constrained planning model taking mechanical arm movement energy consumption as the optimizing target, the minimum value of energy optimal trajectory planning is iteratively solved adopting a sequential quadratic planning algorithm, and a mechanical arm optimal trajectory is obtained. Compared with the prior art, the model-constraint-based mechanical arm energy optimal trajectory planning control method and device do notneed a large number of complex calculation and have good real-time performance, and energy consumption is least.
Owner:SHANGHAI NORMAL UNIVERSITY
Minimum saltus trajectory optimization method of mechanical arm based on multi-objective particle swarm optimization algorithm
ActiveCN104020665AReduce execution errorReduce wearAdaptive controlParticle swarm optimizationOptimal trajectory planning
The invention discloses a minimum saltus trajectory optimization method of a mechanical arm based on a multi-objective particle swarm optimization algorithm. The method comprises the following steps: firstly, generating trajectories of joints from a task start point to a finish point through path nodes by using the cubic spline function; according to the generated trajectories, determining the minimum saltus mean values of the joints corresponding to an optimized objective function in the optimized objective function; determining fitness functions of the joints according to the optimized objective function and the constraint condition of a task; and finally, obtaining a Pareto optimal solution set corresponding to the optimized objective function according to the fitness functions of the joints by means of the multi-objective particle swarm optimization algorithm, and then selecting the optimal trajectory planning scheme from the optimal solution set according to a certain principle. According to the invention, the saltus values of the joints are comprehensively considered, and the aspects of reducing the maximum value of all joint saltus in the path and uniformity and equilibrium distribution of the joint saltus are remarkably improved. By using the method, the executing error of the mechanical arm can be effectively reduced, and abrasion to the joint mechanism in the moving process is reduced.
Owner:BEIJING UNIV OF POSTS & TELECOMM
Automatic control system and optimal trajectory planning method of intelligent excavator
ActiveCN106836364AAccurate predictionAccurate modelingSoil-shifting machines/dredgersPower sensorWireless transceiver
The invention discloses an automatic control system and an optimal trajectory planning method of an intelligent excavator. The system comprises a data acquiring and executing module, a network, a processor and a storage device; and the data acquiring and executing module comprises a 3D scanner, a power sensor, a proximity sensor, a displacement sensor, an angle sensor, a torque sensor, an information device, a controller, the processor, the storage device and a wireless transceiver. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, because the 3D scanner is adopted to determine the contour of the surface of a to-be-excavated material, the coordinate matrix of the contour is obtained through the processor, and therefore accurate modeling is performed on a material pile, and accurate prediction on the surface load of the excavated complex material pile is achieved. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, because the information device and the processor are used for optimizing control parameters in the excavating process of the excavator, the purposes that the excavating load is minimum, and the excavating energy consumption is lowest are achieved. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, the accuracy of a load predicting algorithm is improved, and accurate prediction on the excavating load is achieved.
Owner:DALIAN UNIV OF TECH
Double-pendulum crane global time optimal trajectory planning method based on pseudo-spectral method
ActiveCN105174061AImprove work efficiencyEasy to solveLoad-engaging elementsAutomatic controlEngineering
Disclosed is a double-pendulum crane global time optimal trajectory planning method based on a pseudo-spectral method. The purpose of automatic control over a nonlinear double-pendulum bridge crane system is achieved. The method has the good functions of trolley positioning and two-stage load pendulum elimination. The method comprises the steps that firstly, a system kinematic model is transformed so as to facilitate following analysis; then, corresponding optimization problems are constructed by considering various constraints including two-stage pendulum angles and trolley speed and acceleration upper limit values; and then, the Gaussian pseudo-spectral method is used for transforming the optimization problems with the constraints into nonlinear programming problems easy to solve to be solved to obtain a trolley trajectory with the optimal time. The thought of the pseudo-spectral method is utilized for handling and transforming the complex time optimal problem, the solving difficulty is lowered; and meanwhile, the result with the optimal global time can be obtained through the method, and the working efficiency of a crane system can be greatly improved. Simulation and experiment results show that the good control effect can be obtained and the good actual application value is achieved.
Owner:NANKAI UNIV
Drone trajectory planning system
ActiveCN106774421AReduce calculationReduce storage capacity burdenPosition/course control in three dimensionsComputer scienceOptimal trajectory planning
The invention discloses a drone trajectory planning system. The drone trajectory planning system comprises a drone module and a cloud platform module, wherein the drone module is used for collecting the flight trajectory information of a current drone and uploading the flight trajectory information to the cloud platform module; the cloud platform module is used for analyzing the received flight trajectory information and feeding back corresponding optimal trajectory planning information to the drone corresponding to the drone module. The drone trajectory planning system has the advantages that drone trajectory planning is separated from the drone, the drone trajectory planning is performed by the cloud platform module, the calculation and storage burden of the drone is relieved greatly, different drones can share one cloud platform module, the multiple drones can share resources in the cloud platform module, the repeated calculation of the trajectory planning is avoided, and drone trajectory planning efficiency is increased greatly.
Owner:ZHENGZHOU YUNHAI INFORMATION TECH CO LTD
Double-pendulum crane energy consumption optimal trajectory planning method
ActiveCN106976804AHigh energy consumptionSuppresses and eliminates residual swingLoad-engaging elementsAutomatic controlProcess engineering
The invention discloses a double-pendulum crane energy consumption optimal trajectory planning method, and belongs to the technical field of automatic control of under-actuated mechanical systems. The method comprises the following steps: an energy consumption optimal trajectory planning method aiming at a double-pendulum crane system is designed by fully considering double-pendulum characteristics of a crane system and the energy consumption demands in actual production for realizing the control targets of positioning and pendulum elimination of a double-pendulum crane. Firstly, in order to conveniently analyze and calculate, system kinetic equations are converted. Then, corresponding optimization problems are configured according to each state quantity constraint, an initial state and a target state of the system. Finally, the optimization problems are converted to a form of convex optimization problems, and are solved by a convex optimization tool. The method can guarantee the double-pendulum crane system to reach the target state from the initial state, reaches the lowest energy consumption in the operation process, constrains all system states in a given range, and meanwhile, effectively inhibits and eliminates residual pendulum of the system.
Owner:NANKAI UNIV
System and method for planning a trajectory for a self-driving vehicle
PendingCN111258308AHigh precisionImprove securityAutonomous decision making processRoad vehicles traffic controlClassical mechanicsAutopilot
A system and a method for planning a trajectory for a self-driving vehicle are disclosed. The method is suitable for a vehicle, is implemented by a vehicle-mounted computer, and comprises the following steps: (A) generating multiple target planned trajectory results according to the current position, the current course angle, the current speed, the current acceleration, multiple path end points, the current road width and the current road curvature of a vehicle, wherein each target planned trajectory result comprises a trajectory path and a speed change curve; (B) estimating a plurality of estimated movement ranges and a plurality of estimated movement speeds of each obstacle in a predetermined distance range from the vehicle at a plurality of unit time points in a driving period; and (C)determining an optimal planned trajectory result from the target planned trajectory results according to the target planned trajectory result and the estimated moving range and the estimated moving speed of each obstacle.
Owner:AUTOMOTIVE RES & TESTING CENT
Energy consumption optimal trajectory planning method for welding robot
ActiveCN112222703AReduce energy consumptionProgramme-controlled manipulatorWelding/cutting auxillary devicesFriction torqueEngineering
The invention provides an energy consumption optimal trajectory planning method for a welding robot. The method comprises the following steps of S1) converting welding points in a robot operation space into a point cloud; S2) uniformly planning a jump trajectory by utilizing a quintic polynomial interpolation of a joint space; S3) calculating a robot joint deflection angle Pi, an angular velocityvi and an angular acceleration vi'; S4) calculating a joint friction torque and a driving torque, and calculating a robot joint motor driving torque taum; S5) obtaining an overall energy consumption objective function Em of jump between any two points of the single joint of the robot; S6) solving through an adaptive ant colony algorithm; and S7) outputting an energy consumption optimal point cloudjump trajectory. According to the method, a simplified robot joint friction model and a single-joint motor energy consumption model are utilized to establish an energy consumption model of jump amongmultiple points of the robot; and an improved ant colony algorithm is adopted to solve the model, so that trajectory optimization with the lowest total energy consumption of jump among multiple points of the welding robot is achieved.
Owner:上海船舶工艺研究所(中国船舶集团有限公司第十一研究所)
Space robot trajectory planning method based on sequence convex optimization
ActiveCN113341731AFast convergenceGood real-time solutionAdaptive controlTheoretical computer sciencePerformance index
The invention discloses a space robot trajectory planning method based on sequence convex optimization. The method comprises the steps: establishing a kinematic model of the space robot, considering the performance indexes and constraint conditions, establishing an optimal trajectory planning model of the space robot, and then providing an optimal trajectory rapid solving method based on sequence convex optimization; through discretization and linearization processing on non-convex constraints, converting a non-convex trajectory optimization problem of the space robot into an approximate convex optimization problem, and then iteratively solving the approximate convex optimization problem by using a sequence convex optimization method to obtain an optimal trajectory meeting constraint conditions. In order to improve the convergence speed during solving of the sequence convex optimization method, compared with a pseudo-spectral method, the sequence convex optimization method is better in solving real-time performance, the convergence is also greatly improved, and the effectiveness of the method is verified.
Owner:NORTHWESTERN POLYTECHNICAL UNIV
Machine vision-based intelligent vehicle right-turning target detection method
InactiveCN108021861AReduce the scope of data collectionImprove securityScene recognitionMachine visionEngineering
The invention provides a machine vision-based intelligent vehicle right-turning target detection method. During the right-turning target detection process of an intelligent vehicle, an intelligent vehicle right-turning model is established. Based on the relative distance change rate of a current vehicle and a previous vehicle, and the relative distance change rate of the current vehicle and a roadboundary, whether the current vehicle drives from a straight lane into a curve lane or not can be judged. The optimal trajectory planning is carried out on the intelligent vehicle judged to enter thecurve lane, and then an area where the intelligent vehicle is judged to pass through within a short period of time is predicted. Meanwhile, the passing area of the intelligent vehicle is simplified into a parallelogram for processing. An effective target is determined according to the principle of the minimum distance from the lane, and then the effective target is updated in time. The detectionrange of the intelligent vehicle is reduced, and the target detection speed and the target detection accuracy are improved.
Owner:HARBIN UNIV OF SCI & TECH
Time-optimal trajectory planning method and device aiming at robot operation space
ActiveCN108544493AImprove operational efficiencyReduce jitterProgramme-controlled manipulatorAxial jointsEngineering
The invention discloses a time-optimal trajectory planning method and a time-optimal trajectory planning device aiming at a robot operation space. The method comprises the steps of calculating a constrained curve MVC according to a path of the operation space and all-order derivatives of various axial joint displacement of a robot on the time; carrying out path integration in the operation space according to the path of the operation space and the constrained curve MVC; obtaining an integrated path; and the like. The device comprises a memorizer and a processor. According to the time-optimal trajectory planning method and the time-optimal trajectory planning device aiming at the robot operation space provided by the invention, the limitation of the all-order derivatives of the various axial joint displacement of the robot on the time is converted into the limitation of all-order derivatives of arc length parameters, so that a multi-dimension constraint condition is converted into a single-dimension constraint condition, and the whole trajectory planning process is simple and high efficient; various axial joints are always at a saturation condition of constraint, so that the runningefficiency of the robot is improved; and after introducing higher-order derivatives of displacement such as accelerated speed and acceleration jerk of the various axial joints, the shaking of the tail end of the robot can be effectively reduced through an obtained trajectory planning result, and the stability of the robot is improved.
Owner:中正数据技术有限公司
Blending algorithm for trajectory planning
The present exemplary embodiment relates to motion control and planning algorithms to facilitate execution of a series of moves within a motion trajectory. In one example, a trajectory is specified as a sequence of one or more path segments. A velocity profile is calculated for each of the one or more path segments, wherein each velocity profile is divided into a blend-in region, a blend-out region and a remainder region. Each path segment is executed such that the blend-in region of its velocity profile overlaps only with the blend-out region of the previous profile.
Owner:ROCKWELL AUTOMATION TECH
A UAV Trajectory Planning System
ActiveCN106774421BReduce calculationAvoid double countingPosition/course control in three dimensionsSimulationOptimal trajectory planning
The invention discloses a drone trajectory planning system. The drone trajectory planning system comprises a drone module and a cloud platform module, wherein the drone module is used for collecting the flight trajectory information of a current drone and uploading the flight trajectory information to the cloud platform module; the cloud platform module is used for analyzing the received flight trajectory information and feeding back corresponding optimal trajectory planning information to the drone corresponding to the drone module. The drone trajectory planning system has the advantages that drone trajectory planning is separated from the drone, the drone trajectory planning is performed by the cloud platform module, the calculation and storage burden of the drone is relieved greatly, different drones can share one cloud platform module, the multiple drones can share resources in the cloud platform module, the repeated calculation of the trajectory planning is avoided, and drone trajectory planning efficiency is increased greatly.
Owner:ZHENGZHOU YUNHAI INFORMATION TECH CO LTD
Robot trajectory planning method and system for ingot repairing process
ActiveCN113021356AReduce dimensionalityReduce computational complexityProgramme-controlled manipulatorComputation complexityKinematics
The invention provides a robot trajectory planning method and system. The method comprises: obtaining a given path, introducing path parameters, and performing parameterized representation on Cartesian coordinates of the given path; mapping the parameterized Cartesian coordinates of the path into the joint position, speed and acceleration of a robot; selecting a three-section path acceleration trajectory or an improved path acceleration trajectory thereof, and obtaining an expression of path parameters and derivatives thereof; parameterizing kinematics and kinetic equations of the robot by using the parameterized joint variable, speed and acceleration, and obtaining a performance index function; and according to the performance index function, solving an optimal parameter of the path acceleration trajectory by using an optimization algorithm, and obtaining a robot trajectory along the given path under the optimal parameter. The dimension of the optimal trajectory planning problem along the specified path is reduced, the calculation complexity is reduced, and the planned trajectory comprises a large-range constant-speed section, so that the method is more suitable for being applied to metal ingot burr trimming operation.
Owner:NANKAI UNIV
Model-based optimal trajectory planning method for multi-degree-of-freedom mechanical arm
ActiveCN114211492AImprove trajectory tracking accuracyReduce dependenceProgramme-controlled manipulatorTotal factory controlKineticsOptimal control
According to the optimal trajectory planning method for the multi-degree-of-freedom mechanical arm based on the model, the optimal trajectory planning method is completed through cooperation of the upper computer, the mechanical arm controller, the feedback control module, the mechanical arm and the optimal trajectory planning module, and the optimal trajectory planning method for the multi-degree-of-freedom mechanical arm based on the model is reasonable in design; a mechanical arm dynamic system model is established by adopting a non-causal modeling language, so that a differential state equation of a mechanical arm system with four or more axes is expressed, and the application of an optimal control method in an optimal trajectory planning task of the mechanical arm with four or more axes can be realized.
Owner:武汉鼎元同立科技有限公司
Automatic control system and optimal trajectory planning method of intelligent excavator
ActiveCN106836364BAccurate predictionAccurate modelingSoil-shifting machines/dredgersPower sensorAutomatic control
The invention discloses an automatic control system and an optimal trajectory planning method of an intelligent excavator. The system comprises a data acquiring and executing module, a network, a processor and a storage device; and the data acquiring and executing module comprises a 3D scanner, a power sensor, a proximity sensor, a displacement sensor, an angle sensor, a torque sensor, an information device, a controller, the processor, the storage device and a wireless transceiver. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, because the 3D scanner is adopted to determine the contour of the surface of a to-be-excavated material, the coordinate matrix of the contour is obtained through the processor, and therefore accurate modeling is performed on a material pile, and accurate prediction on the surface load of the excavated complex material pile is achieved. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, because the information device and the processor are used for optimizing control parameters in the excavating process of the excavator, the purposes that the excavating load is minimum, and the excavating energy consumption is lowest are achieved. According to the automatic control system and the optimal trajectory planning method of the intelligent excavator, the accuracy of a load predicting algorithm is improved, and accurate prediction on the excavating load is achieved.
Owner:DALIAN UNIV OF TECH
A Track Planning Method Based on Ant Colony Algorithm
ActiveCN110793522BSave fuelNavigational calculation instrumentsArtificial lifeUncrewed vehicleEngineering
The invention belongs to the technical field of unmanned aerial vehicles, and specifically relates to a track planning method based on an ant colony algorithm. The method of the present invention uses the deflection angle of the flying position of the unmanned aerial vehicle group as an independent variable, and takes the accumulated coverage area of the unmanned aerial vehicle group at a specified time as the Algorithm fitness function, avoiding obstacles through farsightedness, adding allowable error of going straight and trying to keep going straight to save fuel. By organically combining the trajectory planning problem with the ant colony algorithm, a new trajectory planning problem that is different from the traditional area coverage optimal trajectory planning can be solved, that is, the starting point and end point of the trajectory are not specified, and no one is required. The problem of trajectory planning is to achieve the maximum continuous surveillance coverage of the designated area when the fleet flies on this trajectory.
Owner:XIDIAN UNIV
An optimal trajectory planning method for a space robot to capture a tumbling target
ActiveCN106625671BDoes not encounter kinetic singularitiesReduce collision forceProgramme controlProgramme-controlled manipulatorOptimal controlSimulation
The invention discloses an optimal track planning method for a space robot for capturing a rolling target. The method comprises the steps that a motion equation of the space robot and the rolling target is set up; a solution algorithm of the work space of the space robot and a determining rule of the optimal capturing opportunity are provided; the optimal capturing track of a mechanical arm end effector is obtained, finally, the effectiveness of the method is verified through examples. According to the determining rule of the optimal capturing opportunity, it can be guaranteed that capturing occurs in the path-independent work space of the space robot, and therefore a dynamics singular problem is avoided. According to the optimal capturing track, obtained based on the optimal control theory, of the mechanical arm end effector, it can be guaranteed that the end effector and a capturing point on the target reach the same position at the identical speed, and therefore collision force generated during capturing is minimum.
Owner:NORTHWESTERN POLYTECHNICAL UNIV
A time-optimal trajectory planning method for robot path tracking
InactiveCN110196590BWork lessSave time at workPosition/course control in two dimensionsDifferential coefficientSimulation
The invention discloses a time-optimal trajectory planning system and method for robot path tracking. The system includes a path processing unit, a trajectory planning unit and an instruction generation unit; the path processing unit executes path displacement calculation processing and path function fitting processing , path differential coefficient calculation processing and path planning point selection processing; the trajectory planning unit is used to plan the optimal trajectory; the instruction generation unit is used to generate control instructions and the like. The method comprises the following steps: S1 calculation and processing of path displacement; S2 obtaining path function; S3 calculation and processing of path differential coefficient; S4 selection of path planning points; path displacement of each control cycle; S8 obtains the angular displacement of each axis at each moment; S9 the angular displacement of each axis will be converted into a control command pulse signal and so on. The invention reduces path tracking time and calculation time of trajectory planning.
Owner:SOUTH CHINA UNIV OF TECH +1
Optimization method of minimum jump trajectory of manipulator based on multi-objective particle swarm optimization
ActiveCN104020665BReduce execution errorReduce wearAdaptive controlManipulatorTrajectory optimization
The invention discloses a minimum saltus trajectory optimization method of a mechanical arm based on a multi-objective particle swarm optimization algorithm. The method comprises the following steps: firstly, generating trajectories of joints from a task start point to a finish point through path nodes by using the cubic spline function; according to the generated trajectories, determining the minimum saltus mean values of the joints corresponding to an optimized objective function in the optimized objective function; determining fitness functions of the joints according to the optimized objective function and the constraint condition of a task; and finally, obtaining a Pareto optimal solution set corresponding to the optimized objective function according to the fitness functions of the joints by means of the multi-objective particle swarm optimization algorithm, and then selecting the optimal trajectory planning scheme from the optimal solution set according to a certain principle. According to the invention, the saltus values of the joints are comprehensively considered, and the aspects of reducing the maximum value of all joint saltus in the path and uniformity and equilibrium distribution of the joint saltus are remarkably improved. By using the method, the executing error of the mechanical arm can be effectively reduced, and abrasion to the joint mechanism in the moving process is reduced.
Owner:BEIJING UNIV OF POSTS & TELECOMM
Optimal trajectory planning method and device for control compensation and storage device
ActiveCN113867157AImprove real-time performanceHigh precisionAdaptive controlControl signalControl engineering
The invention discloses an optimal trajectory planning method and device for control compensation and a storage device. The method comprises the steps: generating an optimal motion trajectory according to information inputted by an upper computer, and generating control compensation information corresponding to the optimal trajectory while considering an error caused by receiving a discrete control signal by a controller. The method has the advantages that the real-time performance of robot control and the trajectory tracking precision are improved in the process, meanwhile, a trajectory space conversion tool is added in the method, the inverse kinematics solving efficiency of a robot which does not meet the Pieper criterion is improved, and the real-time performance of trajectory planning is further improved.
Owner:武汉鼎元同立科技有限公司
Global Time Optimal Trajectory Planning Method for Double Pendulum Crane Based on Pseudospectral Method
ActiveCN105174061BImprove work efficiencyEasy to solveLoad-engaging elementsAutomatic controlEngineering
Disclosed is a double-pendulum crane global time optimal trajectory planning method based on a pseudo-spectral method. The purpose of automatic control over a nonlinear double-pendulum bridge crane system is achieved. The method has the good functions of trolley positioning and two-stage load pendulum elimination. The method comprises the steps that firstly, a system kinematic model is transformed so as to facilitate following analysis; then, corresponding optimization problems are constructed by considering various constraints including two-stage pendulum angles and trolley speed and acceleration upper limit values; and then, the Gaussian pseudo-spectral method is used for transforming the optimization problems with the constraints into nonlinear programming problems easy to solve to be solved to obtain a trolley trajectory with the optimal time. The thought of the pseudo-spectral method is utilized for handling and transforming the complex time optimal problem, the solving difficulty is lowered; and meanwhile, the result with the optimal global time can be obtained through the method, and the working efficiency of a crane system can be greatly improved. Simulation and experiment results show that the good control effect can be obtained and the good actual application value is achieved.
Owner:NANKAI UNIV
Bridge crane time/energy optimal trajectory planning method and system
PendingCN114578695AEliminates the "wobble-and-wobble" effectReduce consumptionAdaptive controlOptimal trajectory planningEnergy consumption
Owner:SHANDONG UNIV
A time-optimal trajectory planning method and device for robot operation space
ActiveCN108544493BImprove operational efficiencyReduce jitterProgramme-controlled manipulatorSimulationControl theory
Owner:中正数据技术有限公司
A method for smooth time-optimal trajectory planning of robots
ActiveCN109623810BIncrease productivityImprove efficiencyProgramme-controlled manipulatorControl theoryIndustrial engineering
The invention discloses a method for robot smooth time optimal trajectory planning, which relates to the field of robots, can give full play to the performance of the robot, and the generated trajectory has specific efficiency and smoothness at the same time, which is conducive to improving the production efficiency of the robot and the processing of products quality. The invention includes: given robot torque and kinematic constraints; calculating speed limit curve according to constraint equation; calculating time optimal trajectory; extracting key points from curve; and fitting with smooth time optimal. The invention has the characteristics of simplicity, high efficiency and smooth trajectory, and can be widely used in the field of robots.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
An optimal trajectory planning method, device and storage device for control compensation
ActiveCN113867157BImprove real-time performanceHigh precisionAdaptive controlControl signalControl engineering
The invention discloses an optimal trajectory planning method, device and storage device for control compensation. After the method generates the optimal trajectory according to the information input by the host computer, it generates The control compensation information corresponding to the optimal trajectory. The beneficial effect of the present invention is: above-mentioned process has improved the real-time property of robot control and trajectory tracking precision, simultaneously this method has added a kind of trajectory space transformation tool, has improved the inverse kinematics solution efficiency of the robot that does not satisfy Pieper criterion, further improves Real-time performance of trajectory planning.
Owner:武汉鼎元同立科技有限公司
Optimal trajectory planning method and system for intelligent vehicle in continuous curve scene
ActiveCN114509086AImprove robustnessInstruments for road network navigationInternal combustion piston enginesSimulationControl theory
The invention discloses an optimal trajectory planning method and system for an intelligent vehicle in a continuous curve scene, and the method comprises the steps: 1, obtaining the coordinates of a road boundary point of a road where the vehicle is located and a center line point of the road through a sensor, setting a front enveloping circle and a rear enveloping circle with the radius being R in the front and rear directions of a longitudinal axis of the vehicle respectively, representing the vehicle through a front enveloping circle and a rear enveloping circle, and meanwhile, inwards shrinking road boundary points by a distance R in the direction perpendicular to the corresponding center line; step 2, fitting the road boundary points into N road boundaries which have mutually overlapped parts and are described by polynomial sum; and step 3, a bicycle kinematic model is used as a vehicle model of a self-vehicle, and meanwhile, sum is used as a road boundary constraint, a first optimal control problem is established in combination with the vehicle constraint, the optimal control problem is converted into a nonlinear programming problem, and a global optimal trajectory is solved.
Owner:湖南大学无锡智能控制研究院
Time optimal trajectory planning method for delta robot
ActiveCN104062902BImprove control efficiencyImprove control stabilityAdaptive controlKinematics equationsSimulation
The invention provides a vision-guided trajectory planning method on the basis of a Delta robot joint space. The method is applied to the optimal time motion of a Delta robot. The method comprises the following steps: solving a kinematic relation of the Delta robot; establishing an inverse kinematical equation for a motion from an end effector to each joint; acquiring a target position through an industrial intelligent camera; updating the target position on real time through an encoder; dividing a working area of the Delta robot into 9*13 subareas; planning the motion route of each joint at different areas through a B spline offline; maintaining smooth and continuous speed, acceleration and jerk; reducing the impact of a servo motor to a mechanical structure; improving the typical particle swarm optimization; speeding up to search time nodes with optimal solution by the fractional order particle swarm optimization in order to avoid local optimal solution; then performing the two-dimensional fuzzy method to select the optimal time node corresponding to the working area of the robot on line, and thus finishing control.
Owner:JIANGNAN UNIV +1
A multi-relay UAV track planning method, system and storage medium in uncertain channel environment
ActiveCN113034981BImprove energy efficiencyImprove reliabilityInternal combustion piston enginesParticular environment based servicesUncrewed vehicleTrunking
Owner:BEIHANG UNIV
An Algorithm for Inverse Solution Multiple Solution Selection and Time Optimal Trajectory Planning of Manipulator
ActiveCN112757306BAchieving smooth continuous derivationGuaranteed continuityProgramme-controlled manipulatorProportional controlAlgorithm
The invention relates to the field of legged robot manipulators, in particular to a manipulator inverse solution multi-solution selection and time optimal trajectory planning algorithm. This algorithm can quickly select the most suitable set of inverse solutions from multiple inverse solutions according to the current pose of the manipulator, effectively avoiding singular positions, realizing smooth switching between different inverse solutions, and ensuring the continuity of manipulator control and motion and does not oscillate; and use the trajectory planning method combined with the seventh-order polynomial and conditional proportional control to plan the time-optimal trajectory to ensure the smooth continuous derivation of joint angles, angular velocities, angular accelerations, and angular jerks. Constraint conditions, satisfying the actuator specification, including the maximum joint angular velocity constraint or the maximum joint angular acceleration constraint, etc. The algorithm greatly reduces the calculation amount of multi-solution selection and trajectory planning, can realize real-time and efficient time-optimal trajectory planning, and can be extended to low computing power controllers.
Owner:BEIJING JIAOTONG UNIV
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