Robot Joint Trajectory Planning for Real-Time Synchronized PTP Motion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing trajectory planning methods for point-to-point motion in robot joint space require a large calculation amount and often result in longer planned trajectory times, failing to meet real-time control requirements and affecting the efficiency of industrial robots.
Innovation Solution
A trajectory planning method that uses an n-dimensional space to define a generalized virtual axis, calculates motion parameters based on preset constraints, and verifies these parameters using an n-dimensional space projection method to ensure all axes satisfy physical constraints, allowing for synchronized motion and optimal execution time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional trajectory planning methods are used for each axis separately, then the motion synchronization of all axes can be achieved, but the calculation amount becomes huge and trajectory points cannot be generated in real-time
Solution Approach 1:
The patent merges the trajectory planning of multiple independent axes into a unified planning process by identifying and using the maximum motion time among all axes as a common constraint. This allows all axes to be planned simultaneously based on this unified time parameter, achieving motion synchronization while dramatically reducing the calculation amount from 2n separate planning operations to a single coordinated planning operation.
Solution Approach 2:
The patent creates a universal trajectory planning method that works for robots with any number of axes. By formulating the planning approach around the concept of maximum motion time that applies to all axes regardless of their specific characteristics, the method provides a multi-functional solution that can be applied to different robot configurations without requiring axis-specific planning algorithms.
2Loss of time
If the motion time of each axis is optimized independently, then the trajectory time for each axis can be minimized, but the calculation complexity increases significantly
Solution Approach 1:
The patent performs preliminary identification of the maximum motion time among all axes before conducting the actual trajectory planning. This preliminary action establishes a unified time constraint that simplifies the subsequent planning process, allowing all axes to be planned in parallel with the same time parameter, thereby reducing overall calculation complexity while still optimizing the trajectory execution time.
Solution Approach 2:
The patent changes the planning parameter from axis-specific motion times to a unified maximum motion time parameter. This parameter transformation allows the system to work with a single time constraint for all axes, reducing the complexity of calculating and coordinating multiple different motion times while still achieving optimal trajectory execution by ensuring all axes complete their motion within this unified time frame.
3Manufacturing precision
If more trajectory planning calculations are performed to achieve optimal motion, then the motion precision can be improved, but the real-time control requirement cannot be met
Solution Approach 1:
The patent extracts the critical time parameter (maximum motion time) from the complex multi-axis planning problem and uses it as the sole temporal constraint for all axes. This extraction simplifies the planning process by removing the need to independently calculate and coordinate multiple different motion times, thereby reducing computation time to meet real-time control requirements while maintaining motion precision through the unified time constraint.
Data Source
AI summary
A robot joint space point-to-point movement trajectory planning method. Joint space trajectory planning is performed according to the displacement of a robot from a start point to a target point during PTP movement and a limitation condition of a preset movement parameter physical quantity of each axis in a robot control system. An n-dimensional space is constructed by taking each axis of the robot as a vector, wherein n≥2, and the movement parameter physical quantity of each axis of the robot is verified according to a vector relationship between the n axes of the robot, so that a trajectory planning curve of each axis of the robot satisfies the limitation condition of the preset movement parameter physical quantity. The method has a small amount of calculations and strong real-time performance, the movement curves are mild, the control time is optimal, and the algorithm execution effect is good.