Quintic polynomial trajectory planning method of industrial robot

Abstract

The invention discloses a quintic polynomial trajectory planning method of an industrial robot. According to the method, based on the start-stop displacement, speed and acceleration information of a trajectory, by means of the speed trend of S-shaped trajectory planning, the interpolation time of quintic polynomial trajectory planning is deduced, and a quintic polynomial trajectory planning model is further determined. According to the quintic polynomial trajectory planning method, the quintic polynomial trajectory planning model is determined based on the speed running trend of S-shaped trajectory planning, so that the situation that the quintic polynomial curve shape is unstable and likely to twist is solved, the monotonicity of a speed variation in the planning process is ensured, the conditions of large convexity and reversing are unlikely to occur, it is ensured that the planned trajectory can satisfy intrinsic motion parameter restraints of the robot at every moment from the starting point and ending point of the trajectory, and the planning curve is smoother and the trajectory running process is stabler compared with common trapezoidal planning and S-shaped planning models.

Description

technical field [0001] The invention relates to a trajectory planning method for an industrial robot, in particular to a quintic polynomial planning method for the trajectory of an industrial robot. Background technique [0002] Trajectory planning is the basis of robotics applications. Robot trajectory planning is to plan the path, velocity, acceleration and jerk of the end of the robot or each joint between the starting point and the ending point. Robot trajectory planning is carried out in two spaces: joint space and Cartesian space, but no matter which space is used for trajectory planning, it is necessary to ensure that the planned trajectory is continuous and smooth, and meets the inherent motion parameters of the robot. Smooth movement of the robot. [0003] According to literature research, the current common industrial robot trajectory planning includes trapezoidal planning, S-shaped planning and polynomial planning, and the most common polynomial planning is quin...

AI Technical Summary

Problems solved by technology

[0006] The present invention proposes a quintic polynomial trajectory planning method for an industrial robot. The purpose is to solve the problem that the planned curve will exceed the limit of the robot's own motion parameters due to the unfixed shape of the quintic polynomial curve, so as to ensure the planned trajectory. Displacement, velocity, and acceleration at each moment are continuous, the curve is smooth, and it meets the inherent motion parameter limitations of the robot

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