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Planning method for smooth trajectory of robot in Cartesian space

A Cartesian space and robotics technology, applied in the field of robotics, can solve problems such as overspeed, unsmooth, and robot trajectory pauses

Active Publication Date: 2017-08-11
GUANGZHOU UNIVERSITY
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  • Abstract
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  • Claims
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Problems solved by technology

[0005] In order to overcome the shortcomings and deficiencies of the prior art, the present invention provides a planning method for the smooth trajectory of the robot Cartesian space, which can smoothly plan the space trajectory of the robot mainly based on straight lines and arcs, so as to solve the problem of the robot trajectory being stagnant and not smooth. , jitter, deviation from the path, overspeed and other problems, to further improve the efficiency and stability of robot movement

Method used

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  • Planning method for smooth trajectory of robot in Cartesian space

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Embodiment

[0076] The specific flow of the embodiment of the present invention: judgment of the transition area—non-transition section planning—transition section position planning—transition section posture planning.

[0077] As shown in Figure 2 (a) and Figure 2 (b), the size of the path transition area involved in the present invention is set by the transition level. When the robot moves to the transition area, it will fly over the current path point and move towards the next path point. Point p1 in the figure, if the next path point is still in the transition area, then directly cross the next path point, such as point p2 in Figure 2(a).

[0078] Such as image 3 Shown is the specific process of judging the path transition situation. Firstly, the transition distance of each program segment is determined according to the transition level. The straight line distance is its length, and the arc distance is determined by the radian of the arc. The judgment result of the transition situat...

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Abstract

The invention discloses a planning method for the smooth trajectory of a robot in Cartesian space. The planning method comprises the following process: planning the positions and postures of single-section trajectories, such as a spatial line and an arc; carrying out planning on the smooth transition of a path; controlling the size of the transition region of the path by adopting a transition grade; fitting the path in the transition region by adopting a parabola, and fitting the postures by adopting a quaternion algorithm; and adopting a cycloidal acceleration and deceleration planning method containing acceleration and an acceleration restraint to carry out planning on the spatial trajectory of the path so as to obtain the smooth spatial position and posture trajectory of a robot. The method can effectively solve robot trajectory problems, such as pause, non-smoothness, dithering, path deviation and speed excess and improve the running stability of the robot. The planning method for the smooth trajectory, related to the invention, has certain flexibility, and not only can plan the positions and the postures in the Cartesian space but also can adapt to various robot structures, containing common 6-degree-of-freedom vertical joint mechanical arms, low-degree-of-freedom robots and redundant robots.

Description

technical field [0001] The invention relates to the technical field of robots with spatial motion characteristics, in particular to a planning method for a robot's Cartesian space smooth trajectory. Background technique [0002] Cartesian space motion paths of robots mostly adopt straight lines and circular arcs. In order to improve the execution efficiency and stability of robots, the path segments are required to have smooth transition characteristics, that is, during the trajectory movement process, there is no deceleration or non-stop. [0003] At present, in the research of trajectory transition planning, arcs and high-order curves are mostly used to construct the transition path. Among them, the arc transition path is the most widely used, and it has a good effect between two adjacent straight lines, but there is a discontinuous acceleration between the space line and the arc, and the space arc and the arc; The secondary curve, especially the fifth-degree polynomial, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/02
CPCB25J9/023B25J9/1664
Inventor 吴文强张春良谢嘉亮
Owner GUANGZHOU UNIVERSITY
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