Robot real-time corner transition method based on Bezier spline

Abstract

The invention belongs to the field of track planning of an industrial robot and discloses a robot real-time corner transition method based on Bezier spline. The method comprises the following steps: recording the coordinates of a start point and a transition point of a joint space, the coordinates of a target point and the transition point of a Cartesian space, the transition radius R and the maximum error constraint of the Cartesian space; calculating the coordinates of the start point and the end point of a transition curve of the Cartesian space and the coordinates of the start point of the transition curve of the joint space; calculating the unit vector of the velocity direction of the start point and the end point of the transition curve of the Cartesian space; calculating the coordinates of a middle control point of the transition curve of the Cartesian space and solving a constructor function of a Bezier spline curve; finally performing velocity planning and interpolation. By adopting the method disclosed by the invention, transition radius and maximum transition error constraints are realized during transition between a point-to-point motion command and a linear motion command, and the corner transition between the point-to-point command and the linear motion command is implemented with high efficiency and high quality.

Description

technical field [0001] The invention belongs to the field of industrial robot trajectory planning, and more specifically relates to a real-time corner transition method for a robot based on Bezier splines. Background technique [0002] The trajectory planning methods of industrial robots are mainly divided into two methods according to whether they pass through the specified path point. The operator specifies a series of path points through the trajectory planning of the specified path points. The robot passes through each path point according to the given motion command, and completes the process of deceleration, stop and acceleration in the area near each path point. This method can realize Accurately arrive at the position required by the instruction, but there will be a pause when passing the waypoint, so when there are many waypoints, it will take more time and reduce the overall efficiency. The trajectory planning that does not pass the specified path point is the cor...

AI Technical Summary

Problems solved by technology

This solves the technical problem that existing industrial robots cannot satisfy the simultaneous constraints of transition radius and maximum transition error when transitioning between PTP (point-to-point) motion commands and linear motion commands

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