A Planning Method for Cartesian Space Trajectories of Robots

Abstract

The invention discloses a planning method for a robot's Cartesian space trajectory. The process is as follows: establish a link coordinate system, obtain a positive kinematics equation by a kinematics modeling analysis method; Form and position requirements, solve the rotation angles of the main control joints and intermediate joints; use the kinematics modeling analysis method, use the solved joint rotation angles, find a relational formula containing the variables that have been introduced, and solve the corresponding joint rotation angles; when the task space Trajectory planning is carried out when there are obstacles, and whether it is an accessible pose is determined by the vector geometry method; the continuous time-varying pose coupled with position information is planned, and then the planning task is completed. The present invention avoids generating root-increasing, screening and matching effective solutions; can effectively avoid singular paths, and can avoid and optimize the defects of complex terminal trajectories planned by joint space and the like.

Description

technical field [0001] The invention relates to a planning method for a robot's Cartesian space trajectory, and relates to inverse kinematics and attitude planning. Background technique [0002] The depth and breadth of industrial robot applications have become an important indicator of a country's manufacturing level and technological level. Since the first industrial robot was applied to the production line of General Motor Company in 1962, robot technology has developed rapidly. Especially, under the background of rising labor costs and the concept of "Industry 4.0", the robot revolution is expected to become the "third time" "Industrial Revolution" is an important entry point and growth point. At present, my country has become the world's largest robot market. In May 2015, the State Council issued "Made in China 2025", which clearly proposed to focus on supporting the development and application of robot technology, and listed it as one of the One of the ten focus areas. ...

AI Technical Summary

Problems solved by technology

The current Cartesian coordinate space planning method has a large computational workload, and the attitude planning problem is complex, which leads to the possibility that the planned trajectory may approach or pass through the singular point, resulting in unsolvable consequences

Especially for robotic arms with few degrees of freedom, when the attitude planning is unsuccessful, the goal of avoiding singular positions is often achieved by sacrificing the accuracy of the end pose. However, when performing target capture, fine manipulation, etc., the sacrifice of the end pose accuracy affects the performance of tasks. successfully executed

[0009] Therefore, planning in joint space is acceptable for grasping operations with low path requirements, but when there are strict trajectory requirements, such as welding, complex algorithms are needed to ensure accuracy, and trajectory planning in Cartesian space The accuracy is unmatched by this method based on joint space planning

However, in terms of attitude planning, due to its nonlinearity and coupling, most existing algorithms use interpolation schemes, which have poor flexibility. The singularity of the planned path, even the unsolvable situation

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