A Circular Trajectory Planning Method for Robots Based on Sinusoidal Curves

Abstract

The present invention provides a robot arc trajectory planning method based on a sinusoidal curve, which includes the following steps: S1: select three position points and obtain the pose of the position points; S2: obtain the interpolation circle passing through the three position points The plane, the coordinates of the center of the circle and the radius; S3: establish the arc coordinate system; S4: set the current interpolation step k and the total interpolation step m of the arc trajectory, and set k=0; S5: calculate based on the sine curve The pose and velocity of the end effector of the robot during interpolation in the kth step; S6: Calculate the angular velocity of the robot joint; S7: Calculate the angle of the robot joint; S8: Determine whether k is equal to m; if not, set k+ Give k a value of 1, and return to step S5; if it is equal, then end the iteration and complete the planning of the arc trajectory. The invention provides a robot arc trajectory planning method based on a sinusoidal curve, which solves the problem that the change of the joint angle of the robot is mostly not considered when planning the trajectory of the robot at present.

Description

technical field [0001] The present invention relates to the technical field of trajectory planning, and more specifically, to a sinusoidal curve-based robot arc trajectory planning method. Background technique [0002] During the movement of the robot, all joints of the robot need to move cooperatively to make the end effector of the robot reach the required state, including the spatial position and posture. However, the more joints the robot has, the more complex the motion calculations for each joint will be. In addition, the changes in the custom space trajectory parameters are more complex, resulting in the need to redo a large number of arc trajectories each time the robot moves. calculate. Therefore, at present, when planning the trajectory of the robot, most of them do not consider the change of the joint angle of the robot, and the planning effect is not good enough. [0003] In the prior art, such as the Chinese patent disclosed on May 19, 2020, a method of circul...

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Problems solved by technology

[0004] The present invention provides a robot arc trajectory planning method based on sinusoidal curves in order to overcome the technical defect that most of the robot's joint angle changes are not considered when planning the trajectory of the robot at present.

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