Robot Trajectory Switching Using Predicted Position Interpolation
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Solution Overview
Problem
When switching from a velocity trajectory to a positional trajectory, robots need to be temporarily stopped to recognize their current position, leading to potential deviations and inaccurate calculations, hindering smooth movement.
Innovation Solution
A trajectory generation apparatus that predicts the robot's position before switching and generates a positional trajectory starting from the predicted position, allowing for smooth transition without stopping, and interpolates trajectories to account for deviations, with the predetermined time and distance adjusted based on the robot's velocity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot is temporarily stopped to recognize current position when switching from velocity trajectory to positional trajectory, then the current position can be accurately recognized, but the robot cannot move smoothly and time is lost
Solution Approach 1:
The system performs preliminary prediction of the robot's position at the switching moment before the actual trajectory switch occurs. By calculating the predicted position in advance based on the velocity trajectory, the system eliminates the need to stop the robot for position recognition, thus maintaining smooth movement while obtaining accurate position data for the positional trajectory calculation
Solution Approach 2:
The system implements a feedback mechanism by comparing the predicted position with the actual position at the switching moment. When a deviation is detected, the system generates an interpolated trajectory to correct the deviation, ensuring continuous and smooth movement while maintaining position accuracy
2Productivity
If the positional trajectory is predicted and calculated before switching, then the trajectory can be prepared in advance, but position deviation may still occur at switching making accurate calculation impossible
Solution Approach 1:
The system calculates the positional trajectory in advance based on the predicted position, improving calculation efficiency.同时, it prepares for potential deviations by having an interpolation mechanism ready to correct any position inaccuracies that occur at the switching moment
Solution Approach 2:
The system uses feedback to compare the predicted position with the actual position at switching. When deviations are detected, the interpolated trajectory adjusts the path to ensure the robot reaches the correct position, thereby maintaining position accuracy while preserving the efficiency benefits of advance calculation
Data Source
AI summary
A trajectory generation apparatus according to an embodiment includes an arithmetic unit capable of generating a positional trajectory of a movable part of a robot, in which: the arithmetic unit is further capable of generating a velocity trajectory of the movable part; and a predetermined time before switching a trajectory along which the movable part is moved from the velocity trajectory to the positional trajectory, the arithmetic unit predicts a position of the movable part at the time of the switching and generates the positional trajectory that starts from the predicted position.