Industrial robot stop motion trajectory planning method

Abstract

The invention discloses an industrial robot stop motion trajectory planning method. According to the method, stop planning is carried out directly for a joint position finally output in each interpolation period, delay from a trajectory interpolation layer to a joint position output layer is avoided, and response is rapider and more timely. Discrete interpolation output joint positions are storedand added with time information at the same time, a cubic spline model is used for converting discrete joint position information into continuous information in a time domain, then a time scaling method is used for stopping planning, it is guaranteed that data output in each period in the stopping process still come from the joint position output through trajectory interpolation, and then it is guaranteed that there is no trajectory deviation in the stopping process. Meanwhile, a simplified quintic polynomial is adopted to plan time, a model is simple, the calculated amount is small, and continuous, smooth and impact-free operation of the whole stop process is guaranteed through the high-order trajectory planning method.

Description

technical field [0001] The invention relates to a method for planning a motion trajectory of an industrial robot, in particular to a method for planning a motion trajectory when an industrial robot stops. Background technique [0002] In the application of industrial robots, stopping motion is a common action in the process of robot movement, how to stop quickly and smoothly is an important topic in robot motion control. For the stop command, the robot needs to respond quickly and stop the current motion smoothly without deviating from the original teaching trajectory, so as to avoid accidents such as collisions and impacts. [0003] The main structure of the control system of the industrial robot is attached figure 1 As shown, it mainly includes trajectory teaching module, instruction analysis module, motion control module and servo control module. The user conducts trajectory teaching through the teaching pendant, the trajectory teaching module records and processes, and...

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Problems solved by technology

as attached figure 2 As shown, the solid line is the trajectory interpolation output speed command, and the dotted line is the final speed command after passing through the control layer. It can be seen that after the stop command is issued, the interpolation output speed command immediately responds and decelerates to 0, but after passing through the control layer The subsequent final speed command is to accelerate first and then decelerate, and the final stop time lags behind the stop time of the trajectory interpolation speed

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