Robot S-Curve Trajectory Planning for Short-Distance Velocity Limits
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Solution Overview
Problem
Existing motion trajectory planning methods for robots fail to achieve the user-set maximum travel velocity when the total travel distance is short and the set velocity is high, leading to incomplete planning.
Innovation Solution
A method and apparatus for planning a motion trajectory based on an S-curve velocity profile, which includes determining motion paths, detecting initial velocities, and planning acceleration and deceleration sections to ensure the maximum planned velocity meets or exceeds the user-set maximum preset velocity, using modules for path detection and trajectory planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the existing motion trajectory planning method is used with a user-set maximum velocity and total travel distance, then the planning can be completed under normal conditions, but when the total travel distance is short and the user-set maximum velocity is large, the planned maximum velocity cannot reach the user-set maximum travel velocity, causing no solution and incomplete planning
Solution Approach 1:
The patent applies dynamics by making the velocity profile adaptive rather than fixed. The S-curve velocity profile dynamically adjusts its parameters (maximum velocity, acceleration, deceleration) based on the relationship between total travel distance and user-set maximum velocity. When the distance is short and velocity is high, the system automatically adjusts the velocity profile to ensure planning completion, thereby resolving the contradiction between reliability and adaptability.
Solution Approach 2:
The patent changes key parameters of the velocity profile (maximum velocity Vmax, acceleration a, deceleration -a) based on the specific scenario. By calculating the optimal velocity profile parameters according to the total travel distance and user requirements, the system ensures that the robot can complete planning in all scenarios including short distance and high velocity cases, while still adhering to user-set constraints where applicable.
2Loss of time
If the robot accelerates to reach high velocity quickly, then the travel time is reduced, but the acceleration requirements increase which may exceed system capabilities
Solution Approach 1:
The patent uses an S-curve velocity profile which represents a curved, smooth transition in velocity rather than abrupt changes. The velocity increases and decreases smoothly following an S-shaped curve, which reduces the peak acceleration requirements compared to linear acceleration while still achieving fast travel. This resolves the contradiction by providing a balanced velocity profile that minimizes travel time without exceeding acceleration capabilities.
3Stability of the object's composition
If the robot follows a strict S-curve velocity profile, then the motion is smooth and controlled, but the maximum velocity may not be achieved in short distance scenarios
Solution Approach 1:
The patent makes the velocity profile dynamic and adaptive. Instead of enforcing a fixed S-curve that may not be achievable in all scenarios, the system adjusts the S-curve parameters (maximum velocity, duration of acceleration phases) based on the total travel distance and user requirements. This allows the motion to remain smooth and controlled while achieving the maximum possible velocity within the given constraints, resolving the contradiction between smoothness and velocity achievement.
Data Source
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AI summary
A method and apparatus for planning a motion trajectory based on an S-curve velocity profile are provided according to embodiments of the application. The method comprising: if a motion path of a robot from a starting point to an end point is a straight line path and an initial velocity of the robot at the starting point is less than a current maximum preset velocity, planning a duration of an acceleration section for a first motion trajectory from the initial velocity to the current maximum preset velocity, so that a maximum planned velocity obtained after the acceleration section ends is less than or equal to the current maximum preset velocity. According to the method, parameters that meet user settings as much as possible and through which trajectory planning can also be completed can be found according to system parameters and user set parameters, thereby avoiding the situation that trajectory planning cannot be completed because there is no solution, and improving the adaptability.