Optimal trajectory planning method and device for control compensation and storage device

A trajectory planning and trajectory technology, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of low efficiency and poor real-time performance, so as to improve real-time performance, improve trajectory tracking accuracy, and improve inverse kinematics The effect of solving efficiency

Active Publication Date: 2021-12-31
武汉鼎元同立科技有限公司
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Problems solved by technology

However, the numerical iterative method for solving inverse kinematics problems has low efficiency and poor real-time performance.

Method used

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  • Optimal trajectory planning method and device for control compensation and storage device
  • Optimal trajectory planning method and device for control compensation and storage device
  • Optimal trajectory planning method and device for control compensation and storage device

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Embodiment Construction

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0039] Please refer to figure 1 , figure 1It is a schematic diagram of the process of the optimal trajectory planning method of the robot for control compensation in the present invention; the present invention provides an optimal trajectory planning method for control compensation, including: two processes, respectively: the trajectory planning process and the control compensation process;

[0040] The input of the trajectory planning process is the trajectory point of the target weight sum; the output is the optimal trajectory of the robot, which is expressed as the curve of angle, angular velocity and torque with respect to time; its main function is to generate a specific optimal trajectory planning problem according to the input information of the...

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Abstract

The invention discloses an optimal trajectory planning method and device for control compensation and a storage device. The method comprises the steps: generating an optimal motion trajectory according to information inputted by an upper computer, and generating control compensation information corresponding to the optimal trajectory while considering an error caused by receiving a discrete control signal by a controller. The method has the advantages that the real-time performance of robot control and the trajectory tracking precision are improved in the process, meanwhile, a trajectory space conversion tool is added in the method, the inverse kinematics solving efficiency of a robot which does not meet the Pieper criterion is improved, and the real-time performance of trajectory planning is further improved.

Description

technical field [0001] The invention relates to the field of robot trajectory planning, in particular to an optimal trajectory planning method, device and storage device for control compensation. Background technique [0002] Trajectory planning is to design the speed and acceleration of each joint according to the actual requirements of the operation, so that the controlled system can reach a specific target state within a specified time. Trajectory planning can be subdivided into basic trajectory planning and optimal trajectory planning, in which basic trajectory planning only considers the kinematics characteristics of the controlled system for the reproduction of motion; optimal trajectory planning is further considered on the basis of basic trajectory planning Dynamic characteristics, transforming the trajectory planning problem into a constrained nonlinear programming problem for solving. [0003] Basic trajectory planning can be divided into Cartesian space planning ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 袁浩然史世杰张良
Owner 武汉鼎元同立科技有限公司
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