CN108333968A - The method for planning track of robot single step campaign - Google Patents
The method for planning track of robot single step campaign Download PDFInfo
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- CN108333968A CN108333968A CN201810140629.4A CN201810140629A CN108333968A CN 108333968 A CN108333968 A CN 108333968A CN 201810140629 A CN201810140629 A CN 201810140629A CN 108333968 A CN108333968 A CN 108333968A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The method for planning track of robot single step campaign of the present invention, it is known that the kinematic parameters such as displacement, maximum speed, peak acceleration, maximum acceleration of robot motion the time required to calculating entire movement, are split movement by rule, generate several sections.When a certain section of track operation of Robot, next section of track is calculated in advance and does safety inspection, by splicing paragraph by paragraph, synthesizes entire movement locus.Whether on the one hand the method can judge movement locus safety in advance, on the other hand each section of segmentation contains braking section, it is ensured that this section can be with safety stop when next section of error, therefore has high safety.
Description
Technical field
The present invention relates to robot field, especially a kind of method for planning track of robot single step campaign.
Background technology
Industrial robot is made of in series or in parallel multiple joints, and there is fixed motion range in each joint,
The articulate movement of institute is transmitted to robot end, forms the working space of robot.Working space belongs to cartesian coordinate
System, cannot correspond with joint space, therefore when robot moves in working space, and the moment to pay close attention to the position in each joint
Whether transfinite.The rotating speed of motor and torque are restricted in joint simultaneously, also to pay close attention to each joint speed and acceleration whether
It transfinites.Therefore industrial robot motion needs emphasis to consider two problems：1) whether safety does not surpass the setting value that controller generates
Limit；2) whether can quickly stop not colliding when there is overrun condition.
Known machine people trajectory planning techniques generally use single-point period sending method, i.e., each period only to calculate output one
A setting value.This method lacks detection function in advance, in fact it could happen that following problem：1) when robot goes to working envelope
When, next setting value is calculated, it is found that position is transfinited, issues setting value in being off, hard stop action occurs in robot, i.e.,
Just internal sudden-stop function is triggered, because on boundary, without redundant space for stopping；2) robot does cartesian space fortune
It is dynamic, when on-line velocity is larger, may there are the speed in some joint or acceleration to cause greatly to transfinite to report an error very much, then controller stops
Setting value is issued, hard stop action occurs in robot.Above-mentioned hard stop action injures robot mechanism very big, it is necessary to want to do
Method avoids the occurrence of.
Invention content
In order to overcome drawbacks described above, the present invention to provide a kind of method for planning track of robot single step campaign, tracing point
Position, speed, acceleration detect in advance, encounter transfinite failure can safety stop, robot motion have very high safety.
The present invention in order to solve its technical problem used by technical solution be：A kind of track rule of robot single step campaign
The method of drawing, includes the following steps：
S1. input motion displacement, maximum speed, peak acceleration, maximum acceleration, calculate run duration, the fortune
The dynamic time refers to the time needed for entire single step campaign；
S2. run duration discretization determines the number of tracing point in entire single step campaign, calculates actual motion displacement, speed
Degree, acceleration, acceleration；
S3. entire single step movement locus is divided into several sections according to chopping rule, and determines each section of trajectory shape；
S4. output first segment track；
S5. robot is moved along first segment track, until when first segment braking section starting point, second segment trajectory calculation is defeated
Go out, is connected in first segment braking section starting point；
S6. robot is moved along second segment track；
S7. each section of track is spliced successively, and robot covers entire track.
As a further improvement on the present invention, the chopping rule be time decile, apart from decile, fixed cycle wherein
It is a kind of.
As a further improvement on the present invention, each section include braking section, the first segment include be located at braking section it
Preceding accelerating sections.
As a further improvement on the present invention, each section includes that at the uniform velocity section, the at the uniform velocity section of the first segment is located at first
Between the accelerating sections and the braking section of first segment of section, the second segment and every section of at the uniform velocity section is located at the braking section of the preceding paragraph later
Between next section of braking section.
As a further improvement on the present invention, described each section all there are one splice point, terminates positioned at the uniform velocity section, braking section
The position of beginning, adjacent track are attached in splice point position, i.e. the braking section starting point of the preceding paragraph and next section of starting
Point connection, after connection, the braking section of the preceding paragraph is dropped.
As a further improvement on the present invention, the orbit segment after the segmentation, before the preceding paragraph track goes to splice point,
Next section of track must calculate in advance, and to ensure that timely splicing generates continuous movement, calculating in advance refers to next section of institute's rail
Mark point will calculate, including at the uniform velocity section and braking section, while provide the call number of next section of tracing point number and splice point.
As a further improvement on the present invention, the object that the next section of track calculates in advance, for robot motion, if
It is joint space movement, then computing object is position, speed, the acceleration interpolation track of each joint shaft；If cartesian space
Movement, then computing object includes that one-dimensional space position and attitude interpolation, 3 dimension space xyz interpolations of Descartes and Inverse Kinematics Solution calculate,
Obtain position, speed, the acceleration interpolation track of each joint shaft.
As a further improvement on the present invention, above-mentioned tracing point is checked one by one and judges whether to transfinite, the foundation to transfinite is
The working space limitation of cartesian space, the positive and negative limit of each joint shaft, maximum speed and peak acceleration limitation wherein one
Kind.
As a further improvement on the present invention, all tracing points all meet the requirements then normal output, and the tracing point of output is all
It is safe.
As a further improvement on the present invention, when next section of track calculates in advance, if finding to there is tracing point to transfinite generation
Alarm, next section of track does not export, when robot goes to splice point according to the preceding paragraph track, because splicing without next section, meeting
The braking section movement for continuing on the preceding paragraph, is automatically stopped.
The beneficial effects of the invention are as follows：The method for planning track segmentation of robot single step campaign of the present invention calculates rail in advance
Mark, whether anticipation tracing point is safe, and malfunctions and can be automatically stopped, therefore has high safety.
Description of the drawings
Fig. 1 is the S type trajectory plannings of the method for planning track first embodiment of robot single step campaign provided by the invention
Schematic diagram.
Fig. 2 is being indicated with speed for the method for planning track first embodiment of robot single step campaign provided by the invention
Trajectory segment splices schematic diagram.
Fig. 3 is being indicated with speed for the method for planning track first embodiment of robot single step campaign provided by the invention
Robot track schematic diagram when the 4th section of error.
Fig. 4 is being indicated with speed for the method for planning track second embodiment of robot single step campaign provided by the invention
Stop motion schematic diagram.
Fig. 5 is being indicated with speed for the method for planning track 3rd embodiment of robot single step campaign provided by the invention
Jog moves and stops schematic diagram.
Specific implementation mode
Please refer to Fig. 1 to Fig. 5, a kind of method for planning track of robot single step campaign of system of the present invention comprising following step
Suddenly：
S1. input motion displacement, maximum speed, peak acceleration, maximum acceleration, calculate run duration, the fortune
The dynamic time refers to the time needed for entire single step campaign；
S2. run duration discretization determines the number of tracing point in entire single step campaign, calculates actual motion displacement, speed
Degree, acceleration, acceleration；
S3. entire single step movement locus is divided into several sections according to chopping rule, and determines each section of trajectory shape；
S4. output first segment track；
S5. robot is moved along first segment track, until when first segment braking section starting point, second segment trajectory calculation is defeated
Go out, is connected in first segment braking section starting point；
S6. robot is moved along second segment track；
S7. each section of track is spliced successively, and robot covers entire track.
The chopping rule is time decile, apart from decile, the one of which of fixed cycle.
Each section includes braking section, and the first segment includes the accelerating sections before being located at braking section.
Each section is located at the deceleration of the accelerating sections and first segment of first segment including at the uniform velocity section, the at the uniform velocity section of the first segment
Between section, the second segment and later every section of at the uniform velocity section are located between the braking section and next section of braking section of the preceding paragraph.
Described each section all there are one splice points, and positioned at the position that at the uniform velocity section terminates, braking section starts, adjacent track is being spelled
Connecting point position is attached, i.e. the braking section starting point of the preceding paragraph is connected with next section of starting point, and after connection, the preceding paragraph subtracts
Fast section is dropped.
Orbit segment after the segmentation, before the preceding paragraph track goes to splice point, next section of track must calculate in advance,
To ensure that timely splicing generates continuous movement, calculating in advance, which refers to next section of all tracing points, to calculate, including even
Fast section and braking section, while providing the call number of next section of tracing point number and splice point.
The object that the next section of track calculates in advance, for robot motion, if joint space moves, then calculating pair
As for the position of each joint shaft, speed, acceleration interpolation track；If cartesian space moves, then computing object includes one-dimensional
Space position solution interpolation, 3 dimension space xyz interpolations of Descartes and Inverse Kinematics Solution calculate, and obtain position, the speed of each joint shaft
Degree, acceleration interpolation track.
Above-mentioned tracing point is checked one by one and judges whether to transfinite, the foundation to transfinite is the working space limit of cartesian space
The one of which that system, the positive and negative limit of each joint shaft, maximum speed and peak acceleration limit.
All tracing points all meet the requirements then normal output, and the tracing point of output is all safe.
When next section of track calculates in advance, if finding, having tracing point to transfinite alarms, and next section of track does not export, machine
When device people goes to splice point according to the preceding paragraph track, because without next section splicing, it will continue to transport along the braking section of the preceding paragraph
It is dynamic, it is automatically stopped.
Fig. 1 to Fig. 3 is the first embodiment of the present invention, is the single step campaign of robot.
The implementation of technical solution one is needed based on a kind of basic method for planning track in the present invention.Fig. 1 is basic S types
Displacement, speed and the accelerating curve of trajectory planning.S types track is known technology in the industry, is repeated no more.In the present invention, it is based on
The input of time optimal principle, S type trajectory calculation models is：Moving displacement, peak acceleration, most greatly accelerates maximum speed
Degree, output are：Total time, moving displacement, speed and acceleration trajectory curve.As seen from the figure, S types track movement is divided into acceleration
Section, at the uniform velocity 3 stages of section and braking section, and the time in each stage and tracing point individually calculate output.
The implementation process of the trajectory segment splicing of first embodiment of the invention has been described in detail in Fig. 2.Horizontal axis is the time in figure,
The longitudinal axis is speed, and the effect of track splicing is indicated with rate curve.Robot does single step campaign, inputs first：Moving displacement,
Maximum speed, peak acceleration, maximum acceleration, S type trajectory calculations go out：Total time, moving displacement, speed and acceleration rail
Trace curve.It is the target velocity track of this single step campaign in the coordinate system of the top in figure.In order to realize above-mentioned movement locus, adopt
Target trajectory is divided into n sections using time bisecting method with sectionally smooth join process.
Paragraph 1 is exported first, as shown in curve in the 2nd coordinate system from top to bottom in Fig. 2.Paragraph 1 includes accelerating, at the uniform velocity
And braking section, while splice point position must calculate output, positioned at the position that at the uniform velocity section terminates to start with braking section.About machine
People's moving interior calculates details and does not repeat herein.
Robot is moved along paragraph 1 track, before reaching splice point position, calculates the 2nd section of track.2nd section general
Including at the uniform velocity section and braking section, as shown in curve in the 3rd coordinate system from top to bottom in Fig. 2, while the 2nd section of splice point is found out
Position.In order to ensure sports safety, the position of the 2nd section of upper all tracing points, speed, acceleration are checked, judged whether
There is overrun condition.Judge the limitation transfinited according to that can be cartesian space, can also be the limitation of joint space.
As shown in Fig. 2, the starting point of the 2nd section of track is connected in the splice point of paragraph 1, paragraph 1 braking section abandons, machine
When people moves to paragraph 1 splice point, it is switched on the 2nd section of track, continues to move.
Similarly, before robot motion to the 2nd section of splice point, the 3rd section of track is calculated, and do safety inspection.3rd section of track
It is connected on the 2nd section of track, the 2nd section of braking section abandons, as shown in curve in the 4th coordinate system from top to bottom in Fig. 2.Robot
When moving to the 2nd section of splice point, it is switched on the 3rd section of track, continues to move.
According to the splicing computational methods, robot moves always, covers n sections of tracks, has been actually accomplished this single step
The target trajectory of movement, as shown in curve in the 5th coordinate system from top to bottom in Fig. 2.
In above-mentioned first embodiment, if in splicing a certain section be tested with overrun condition and alarm, such as the 4th section
Alarm, then the 4th section of track does not export, and robot is moved according to the 3rd section of track, because splicing without next section, can cover the 3rd section
Braking section be automatically stopped.As shown in Figure 3.Robot does not go to target location, but has safely been parked on whole track
Some position.
Fig. 4 is that the stopping that the second embodiment of the present invention is robot single step campaign acts.As shown in figure 4, robot transports
When moving to the 3rd section of at the uniform velocity section position, user will terminate movement, then stitching algorithm can be based on present speed and position, calculate
Go out stop segment track, which only has braking section, is connected on current trace points, and subsequent 3rd section of track is dropped.Robot
Track is switched on the stop segment, executes deceleration stopping action.
Fig. 5 is that the jog (crawl) that the third embodiment of the present invention is robot is moved.As shown in figure 5, robot is done continuously
When jog is moved, multistage joining method is still used, but upper different with single step campaign in segmentation.Continuous jog does not have hard objectives
Position can not calculate movement total time, therefore can not be segmented determining hop count.Fixed cycle mode can be used at this time, each period is defeated
Go out one section, multistage splices, persistent movement, until generating jog_stop stopping events.Institute fixed cycle Δ t determines according to system performance
It is fixed.Multistage is identical when splicing details with single step campaign, and jog_stop processing is identical as single step campaign stopping action, no longer superfluous herein
It states.
Robot motion's method for planning track provided by the invention, with other method for planning track phases in the prior art
Than that can be segmented and calculate track in advance, whether anticipation tracing point is safe, and malfunctions and can be automatically stopped, therefore with high
Safety.
Claims (10)
1. a kind of method for planning track of robot single step campaign, it is characterized in that：Include the following steps：
S1. input motion displacement, maximum speed, peak acceleration, maximum acceleration, calculate run duration, when the movement
Between refer to time needed for entire single step campaign；
S2. run duration discretization determines the number of tracing point in entire single step campaign, calculates actual motion displacement, speed, adds
Speed, acceleration；
S3. entire single step movement locus is divided into several sections according to chopping rule, and determines each section of trajectory shape；
S4. output first segment track；
S5. robot is moved along first segment track, until when first segment braking section starting point, the output of second segment trajectory calculation connects
Onto first segment braking section starting point；
S6. robot is moved along second segment track；
S7. each section of track is spliced successively, and robot covers entire track.
2. the method for planning track of robot single step campaign according to claim 1, it is characterized in that：The chopping rule is
Time decile, apart from decile, the one of which of fixed cycle.
3. the method for planning track of robot single step campaign according to claim 1 or 2, it is characterized in that：Each section is wrapped
Braking section is included, the first segment includes the accelerating sections before being located at braking section.
4. the method for planning track of robot single step campaign according to claim 3, it is characterized in that：Each section includes even
The at the uniform velocity section of fast section, the first segment is located between the accelerating sections and the braking section of first segment of first segment, the second segment and with
Every section of at the uniform velocity section is located between the braking section and next section of braking section of the preceding paragraph afterwards.
5. the method for planning track of robot single step campaign according to claim 4, it is characterized in that：Described each section has
One splice point, positioned at the position that at the uniform velocity section terminates, braking section starts, adjacent track is attached in splice point position, i.e., on
One section of braking section starting point is connected with next section of starting point, and after connection, the braking section of the preceding paragraph is dropped.
6. the method for planning track of robot single step campaign according to claim 5, it is characterized in that：Rail after the segmentation
Mark section, before the preceding paragraph track goes to splice point, next section of track must calculate in advance, to ensure that it is continuous that splicing in time generates
Movement, calculating in advance, which refers to next section of all tracing points, to calculate, including at the uniform velocity section and braking section, while being provided down
The call number of one section of tracing point number and splice point.
7. the method for planning track of robot single step campaign according to claim 6, it is characterized in that：The next section of track
The object calculated in advance, for robot motion, if joint space moves, then computing object is the position of each joint shaft, speed
Degree, acceleration interpolation track；If cartesian space moves, then computing object includes one-dimensional space position and attitude interpolation, flute card
3 dimension space xyz interpolations of that and Inverse Kinematics Solution calculate, and obtain position, speed, the acceleration interpolation track of each joint shaft.
8. the method for planning track of robot single step campaign according to claim 7, it is characterized in that：To above-mentioned tracing point by
One checks and judges whether to transfinite, and the foundation to transfinite is the working space limitation of cartesian space, the positive and negative limit of each joint shaft, most
The one of which of big speed and peak acceleration limitation.
9. the method for planning track of robot single step campaign according to claim 8, it is characterized in that：All tracing points are all full
Foot requires then normal output, and the tracing point of output is all safe.
10. the method for planning track of robot single step campaign according to claim 9, it is characterized in that：When next section of track
When calculating in advance, if finding, having tracing point to transfinite alarms, and next section of track does not export, and robot is walked according to the preceding paragraph track
When to splice point, because splicing without next section, it will continue to move along the braking section of the preceding paragraph, be automatically stopped.
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| CN201810140629.4A CN108333968B (en) | 2018-02-11 | 2018-02-11 | Track planning method for single-step motion of robot |
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| CN201810140629.4A CN108333968B (en) | 2018-02-11 | 2018-02-11 | Track planning method for single-step motion of robot |
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| CN109434841A (en) * | 2019-01-07 | 2019-03-08 | 南京航空航天大学 | A kind of length of a game's optimal trajectory planning method of industrial robot dynamic speed adjustment |
| CN110328661A (en) * | 2019-06-18 | 2019-10-15 | 同济大学 | A kind of method for planning track of robot single step campaign |
| CN111409066A (en) * | 2020-03-06 | 2020-07-14 | 广州明珞汽车装备有限公司 | Method, system, device and storage medium for detecting robot offline program |
| CN113650011A (en) * | 2021-08-03 | 2021-11-16 | 中国人民解放军63920部队 | Method and device for planning splicing path of mechanical arm |
| CN114131613A (en) * | 2021-12-21 | 2022-03-04 | 伯朗特机器人股份有限公司 | Inching operation control method based on S curve |
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| CN113650011B (en) * | 2021-08-03 | 2022-05-10 | 中国人民解放军63920部队 | Method and device for planning splicing path of mechanical arm |
| CN114131613A (en) * | 2021-12-21 | 2022-03-04 | 伯朗特机器人股份有限公司 | Inching operation control method based on S curve |
| CN114131613B (en) * | 2021-12-21 | 2023-05-26 | 伯朗特机器人股份有限公司 | Inching operation control method based on S curve |
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