A method for smooth time-optimal trajectory planning of robots

A time-optimized and robotic technology, applied in the field of robotics, can solve problems such as shortage, achieve the effect of smooth trajectory and improve production efficiency

Active Publication Date: 2022-04-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0006] Therefore, there is a lack of a motion trajectory planning method in the prior art, which can combine the characteristics of dynamics and motor torque, and the generated trajectory has high efficiency and smoothness

Method used

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  • A method for smooth time-optimal trajectory planning of robots
  • A method for smooth time-optimal trajectory planning of robots
  • A method for smooth time-optimal trajectory planning of robots

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Embodiment Construction

[0042] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with specific embodiments.

[0043] An embodiment of the present invention provides a method for smooth and time-optimal trajectory planning of a robot. The flow chart is as follows figure 1 As shown, the present embodiment takes the 3-degree-of-freedom series robot as the description object, figure 2 is a schematic diagram of the robot structure, and the planning methods include:

[0044] (1) Build the robot model and formulate the trajectory curve of the robot end

[0045] According to the structural parameters and working space of the robot, a task trajectory that meets the requirements is given. It is used to illustrate the trajectory planning process of the method of the present invention.

[0046] The quality parameters of the robot are shown in Table 1, and the joint p...

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Abstract

The invention discloses a method for robot smooth time optimal trajectory planning, which relates to the field of robots, can give full play to the performance of the robot, and the generated trajectory has specific efficiency and smoothness at the same time, which is conducive to improving the production efficiency of the robot and the processing of products quality. The invention includes: given robot torque and kinematic constraints; calculating speed limit curve according to constraint equation; calculating time optimal trajectory; extracting key points from curve; and fitting with smooth time optimal. The invention has the characteristics of simplicity, high efficiency and smooth trajectory, and can be widely used in the field of robots.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for smooth time optimal trajectory planning of a robot. Background technique [0002] Robots are more and more widely used in the industrial field, mainly for assembly, welding, spraying, palletizing, grinding and other fields. The development of robots has promoted the process of industrial automation, greatly reducing labor costs and improving production efficiency. [0003] Robot trajectory planning is the basic research of robot motion control, which determines the working efficiency and motion performance of the manipulator arm. When the robot is moving, the end of the manipulator arm needs to move according to the specified job requirements. In addition, the pros and cons of the trajectory planning method will directly affect the trajectory accuracy, motion mode and service life of the manipulator. [0004] At present, the planning method of commercial robot controllers is...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 王尧尧丁亚东陈柏彦飞孟思华李彬彬赵锦波田波华达人吴洪涛
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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