Continuous trajectory planning transition method for robot tail end

Abstract

The invention discloses a continuous trajectory planning transition method for a robot tail end. The method comprises following steps that firstly, a first line segment and a second line segment which need to be subjected to continuous trajectory planning transition are determined, demonstration points of a connecting line segment are determined, and the transition distance between the demonstration points and the first line segment and the transition distance between the demonstration points and the second line segment are determined; secondly, according to the transition distance between the demonstration points and the first line segment, first transition joint points on the first line segment are determined, and according to the transition distance between the demonstration points and the second line segment, second transition joint points on the second line segment are determined; and thirdly, an amplitude coefficient, a phase coefficient and a speed zooming coefficient are calculated in a coordinate axis, and the amplitude coefficient, the phase coefficient and the speed zooming coefficient are brought into a limited term sine position planning function to determine a transition curve expression between the first transition joint points and the second transition joint points. The algorithm flow is clear, the calculating time is greatly shortened, and the complex degree of a robot control system is reduced.

Description

technical field [0001] The invention relates to a robot trajectory control method, in particular to a multi-degree-of-freedom industrial robot terminal continuous trajectory planning transition method in a Cartesian space. Background technique [0002] The trajectory planning algorithm of industrial robots is the core technology to ensure the stable motion of industrial robots. For robot applications such as arc welding, gluing, water cutting, etc., it is usually required that the end effector of the robot advances along the specified path at a speed as close as possible to a given speed, and ensures a smooth transition between adjacent paths, so the transition control method It is the key and the difficulty. [0003] In order to solve the difficult problem of path smooth transition, the earliest application is the joint space trajectory planning algorithm based on spline curve interpolation and other methods. Although this type of algorithm has the advantages of fewer con...

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Problems solved by technology

[0007] The purpose of the present invention is to overcome the defects of lack of precise control and complicated processing flow in the method of smooth transition at the end of the robot in the prior art, and to provide a continuous trajectory planning transition method at the end of the robot

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