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Robot trajectory planning method and related device

A technology of robot motion and motion trajectory, which is used in motor vehicles, transportation and packaging, instruments, etc. It can solve the problems of sharp corners, unable to find arcs, and unable to find arc transfer, etc., to achieve continuous and smooth transfer, speed continuous effect

Active Publication Date: 2021-05-07
SHENZHEN A&E INTELLIGENT TECH INST CO LTD
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] This faces another problem: still see Figure 1a , if consecutive straight line segments are not on the same straight line, there will be sharp corners
Although the vector superposition method can be used to replace sharp corners with circular arcs, it is definitely applicable only in the scene where a straight line segment is transferred from a straight line segment. Unable to find arc tangent to both trajectories
This is because the intersecting straight line segment and straight line segment in space must be coplanar, but the straight line segment and arc segment, and the arc segment and arc segment are not necessarily coplanar, and it is impossible to find out if they are not coplanar Common cut arc transfer

Method used

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  • Robot trajectory planning method and related device
  • Robot trajectory planning method and related device
  • Robot trajectory planning method and related device

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Embodiment Construction

[0044] The technical terms, abbreviations or abbreviations that may be used in the present invention are as follows:

[0045] TCP point: tool coordinate center point;

[0046] Linear motion: the robot TCP point moves along a straight line trajectory in Cartesian space;

[0047] Circular movement: the CP point of the robot moves along a circular arc trajectory in Cartesian space;

[0048] CP: continuous motion, trajectory motion in Cartesian space, including linear motion and circular motion;

[0049] Bezier curve of degree n: The formula of Bezier curve of degree n is: where b i,n (t) is called the Bernstein basis function, t=0 corresponds to the start point of the Beizer curve, and t=1 corresponds to the end point of the Beizer curve.

[0050] P 0 -P n These n feature points or control points define n-degree Bezier curves in the plane or in three-dimensional space, and the polygons formed by them are called feature polygons or control polygons. Among them, P 0 as t...

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Abstract

A robot motion trajectory planning method, according to the first CP motion trajectory segment and the second CP motion trajectory segment, determine the characteristic points of the cubic Bezier curve; and construct the cubic Bezier curve according to the determined characteristic points, and construct the cubic Bezier curve as A smooth transition trajectory segment between the first CP motion trajectory segment and the second CP motion trajectory segment. This approach enables a smooth connection of CP motion, and at the same time, the velocity does not have to drop to zero. It also relates to a motion trajectory planning device and a robot using the method.

Description

technical field [0001] The invention relates to the field of motion control, and more specifically, relates to robot motion trajectory planning technology. Background technique [0002] In the motion control of the robot, the trajectory motion of the controlled part (such as the manipulator) can be divided into CP motion (continuous operation, including linear motion and arc motion) and PTP motion (point-to-point motion). [0003] When planning the motion trajectory of the robot, it may be necessary to perform multiple CP motions continuously. Take two consecutive CP movements as an example, please refer to Figure 1a , CP motion trajectory segment 1 (also referred to as trajectory segment 1) and CP motion trajectory segment 2 (also referred to as trajectory segment 2) can be straight line segments respectively, in addition, circular arc segments and circular arc segments ( Figure 1b ), arc segment and straight line segment ( Figure 1c and Figure 1d ) continuously. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D2201/0217B25J9/16G05D1/02G05D3/00
Inventor 张志明
Owner SHENZHEN A&E INTELLIGENT TECH INST CO LTD
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