Joint track planning method, device and system and storage medium

Abstract

The invention is applicable to the technical field of robots, and provides a joint track planning method, device and system and a storage medium. The method comprises the steps that a main controllerobtains a first joint track and a first operation parameter set of each joint of a robot; each joint runs to the midpoint of the first joint track, the main controller judges that a target section exists, and the main controller obtains a second joint track and a second operation parameter set of each joint of the robot; the main controller obtains the joint transition time of each joint on the transition track of the joint; the main controller calculates a third operation parameter set of each joint on the transition track of the joint; each joint runs to the end point of the transition track; and the main controller takes the target section as the current section, and the step of judging whether the target section exists or not is returned to the main controller. According to the joint track planning method, device and system and the storage medium, smooth transition can be achieved without reducing the speed of each joint to zero, the speed continuity among multiple sections of tracks is guaranteed, and therefore the operation stability of the robot is improved.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a method, device, system and storage medium for joint trajectory planning. Background technique [0002] With the development of science and technology, robots are widely used in industrial fields such as assembly, handling, dispensing, spraying, etc., and trajectory planning is an important part of the application of robots. In the traditional robot trajectory planning, by setting the start and end speed of each trajectory as zero, and then calculating the velocity between the starting point and the end point of the trajectory according to different interpolation methods, the robot can move from the starting point of the trajectory to the end point according to different speed curves. . In this way, no matter what kind of interpolation method is used, the robot starts to move at a speed of zero, and when it reaches the end of the trajectory, the speed decre...

AI Technical Summary

Problems solved by technology

In this way, no matter what kind of interpolation method is used, the robot starts to move at a speed of zero, and when it reaches the end of the trajectory, the speed decreases to zero again. In this case, when the robot runs multiple trajectories continuously, at the end of each trajectory Reduce the speed to stop, and then start from the next track. This frequent start and stop will damage the motor to a certain extent and reduce the life of the motor. At the same time, it will lead to a slow average speed of the overall operation, low operating efficiency, and even vibration of the robot. , affecting the stability of its operation

Images