Time-optimal trajectory planning method and device aiming at robot operation space

Abstract

The invention discloses a time-optimal trajectory planning method and a time-optimal trajectory planning device aiming at a robot operation space. The method comprises the steps of calculating a constrained curve MVC according to a path of the operation space and all-order derivatives of various axial joint displacement of a robot on the time; carrying out path integration in the operation space according to the path of the operation space and the constrained curve MVC; obtaining an integrated path; and the like. The device comprises a memorizer and a processor. According to the time-optimal trajectory planning method and the time-optimal trajectory planning device aiming at the robot operation space provided by the invention, the limitation of the all-order derivatives of the various axial joint displacement of the robot on the time is converted into the limitation of all-order derivatives of arc length parameters, so that a multi-dimension constraint condition is converted into a single-dimension constraint condition, and the whole trajectory planning process is simple and high efficient; various axial joints are always at a saturation condition of constraint, so that the runningefficiency of the robot is improved; and after introducing higher-order derivatives of displacement such as accelerated speed and acceleration jerk of the various axial joints, the shaking of the tail end of the robot can be effectively reduced through an obtained trajectory planning result, and the stability of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of robot automatic control, in particular to a time-optimal trajectory planning method and device for robot operation space. Background technique [0002] Glossary [0003] Trajectory planning: According to a certain task that the robot needs to complete, the process of setting the displacement, velocity, acceleration and the relationship between these data and time for each joint of the robot to complete the task. [0004] Time-optimal trajectory planning: Under the condition that various constraints can be satisfied, the trajectory planning with the shortest time required, or the trajectory planning is optimized with the shortest time used as the optimization index. [0005] Trajectory planning is an indispensable link in the process of robot motion control, and its quality directly affects the stability of robot motion and production efficiency. The existing trajectory planning for the robot operation s...

AI Technical Summary

Problems solved by technology

First, since the robot is a highly coupled system, the velocity of the end of the robot in Cartesian space is synthesized from the velocity of each joint, so the speed limit in Cartesian space will be affected by the path of the operating space, that is, the restrictive It is very large, and the trajectory planning is performed purely with Cartesian space constraints, and the robot joints can easily exceed the limit conditions, such as joint overspeed, etc., resulting in unstable operation of the robot

On the other hand, the single trajectory planning method based on Cartesian space constraints can only plan the speed limit in Cartesian space, and it belongs to linear programming, but the speed limit condition affected by the joint is a curve, and the single trajectory based on Cartesian space constraints The planning method cannot fit this curve, making the robot run at a lower speed than the actual maximum speed that can be achieved, reducing production efficiency

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