Multi-point motion track planning method for mechanical arm

Abstract

The invention discloses a multi-point motion track planning method for a mechanical arm. The method comprises the following steps of acquiring a starting point and an end point in a mechanical arm connecting joint space, acquiring any number of path points in the mechanical arm connecting joint space, fitting a key point by adopting a self-adaptive polynomial to obtain a continuous curve equation of an angle, a speed and an acceleration about time, calculating moments of all joints of the mechanical arm through inverse dynamics, completing motion control over the mechanical arm and feeding back angles of all the joints of the mechanical arm so as to update the motion track in real time. According to the method, the self-adaptive polynomial fitting track curve is adopted, it is guaranteed that the motion process of the mechanical arm is always kept continuous and stable under any working condition, meanwhile, the speed of the solving process is high, and implementation control over the mechanical arm is facilitated.

Description

Technical field [0001] The present invention relates to the trajectory planning technology of the robot arm, specifically a mechanical arm multicast trajectory planning method. Background technique [0002] The mechanical arm trajectory is a movement of the mechanical arm to reach the desired position posture from the initial position attitude within the specified time; during the mechanical arm movement, the effect of obstacles on the movement of the mechanical arm is required. However, the robot arm needs to complete the above functions through a plurality of path points; the mechanical arm multi-point trajectory is that the robot arm needs to arrive in several A movement of the path point. [0003] The common trajectory generation methods in the robotic arm include: ladder path, triple polynomial, five-time polynomial and B-spline curve, etc., which are often used to confirm the trajectory between adjacent path points, when used for multi-point constraints When the trajectory ...

AI Technical Summary

Problems solved by technology

[0003] Common trajectory generation methods in robotic arms include: trapezoidal path, cubic polynomial, quintic polynomial, and B-spline curve, etc. These methods are usually used to confirm the trajectory generation between two adjacent path points. When used for multi-point constraints When planning the trajectory of the trajectory, the amount of calculation will become extremely cumbersome

At the same time, when the velocity and acceleration of each degree of freedom are calculated through the trapezoidal path and the cubic polynomial, the result is linear, which makes the control of the manipulator not smooth and stable.

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