Series robot track planning method

Abstract

The embodiment of the invention discloses a series robot track planning method. The method comprises the following steps that a sequence Ti of posture control nodes of the robot in a robot motion taskspace is obtained, and a sequence ti of time nodes corresponding to the sequence Ti of the posture control nodes is obtained; an angular sequence theta j of each posture control node is obtained,and a sequence of a continuous curve interpolation posture control node angle is constructed in the robot motion task space; the track of the motion of the robot between two adjacent posture control nodes is planned; and the speed and the acceleration of the motion of the robot between two adjacent posture control nodes are calculated according to the motion track of the robot. According to the method, planning is carried out on the mechanical arm algorithm, so that accurate control of the mechanical arm is realized.

Description

technical field [0001] The invention relates to the technical field of robot walking trajectory planning, in particular to a trajectory planning method for serial robots. Background technique [0002] A robot is a complex dynamic system that can be used in different fields. Among them, six-degree-of-freedom robots are widely used in industrial production. The series mechanism of robots is an important part of robots. hand. Since the series robot adopts an open-loop structure, that is, the joints from the base to the end effector are sequentially connected in series, and there is only one kinematic chain, which makes it have the following advantages: (1) Strong load capacity, which can realize heavy-duty work ; (2) The movement space is large, the operation range is good, and it can operate on large-scale targets; (3) The control object is clear, the correlation between each joint is good, and the control is simple; (4) The flexibility is strong and the ductility is high; (...

AI Technical Summary

Problems solved by technology

Since the series robot adopts an open-loop structure, that is, the joints from the base to the end effector are sequentially connected in series, and there is only one kinematic chain, which makes it have the following advantages: (1) Strong load capacity, which can realize heavy-duty work ; (2) The movement space is large, the operation range is good, and it can operate on large-scale targets; (3) The control object is clear, the correlation between each joint is good, and the control is simple; (4) The flexibility is strong and the ductility is high; ( 5) The technology is mature, the cost is low, and it is easy to maintain. However, the trajectory planning of the robot series mechanism makes the robot’s operation efficiency relatively low. If the path planning is not scientific, it may cause the robot to pass through a strange pose or collide with the robot; if the robot’s speed Unreasonable planning will cause the mechanism to vibrate, the movement will be unstable, and the motor may also be damaged

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