CN110377065A - Method for control speed, device and computer readable storage medium - Google Patents
Method for control speed, device and computer readable storage medium Download PDFInfo
- Publication number
- CN110377065A CN110377065A CN201810970000.2A CN201810970000A CN110377065A CN 110377065 A CN110377065 A CN 110377065A CN 201810970000 A CN201810970000 A CN 201810970000A CN 110377065 A CN110377065 A CN 110377065A
- Authority
- CN
- China
- Prior art keywords
- acceleration
- target
- preset time
- starting point
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
Present disclose provides a kind of method for control speed, device and computer readable storage mediums, are related to field of computer technology.The disclosure can target with arbitrary initial acceleration and initial velocity from starting point in the case where, the acceleration absolute value J of target is redefined using the distance of starting point to the endB, and target is controlled with JB, 0 or-JBIt is moved from starting point by the shortest time to terminal, so that target is reached home with zero acceleration and specified movement velocity for acceleration.To also be capable of the motion state of the object of planning in real time in the case where starting point to the end distance is shorter, make that the acceleration movement curve of target is continuous, speed curve movement is smooth, ensure that the stationarity of target during the motion.
Description
Technical field
The present invention relates to field of computer technology, in particular to a kind of method for control speed, device and computer-readable deposit
Storage media.
Background technique
With industrial robot carrying, glaze spraying, in terms of extensive use, market to robot speed, accelerate
Degree and robust motion all propose increasingly higher demands.Robot to avoid as far as possible during the motion position, speed and
The mutation of acceleration.It is unstable that position, speed or sudden change of acceleration will lead to movement, to generate impact grinding to mechanical joint
Damage needs motor output very large torque because the movement of mutation needs infinitely great power to realize.Therefore, there is mechanical shock
Movement can all cause to damage to the even entire robot control system of robot motor.On the other hand, due to speed planning model
Error, robot sensor error, speed planning model calculate certain burst factors in error and actual scene, may all lead
Cause mobile robot command adapted thereto cannot be assigned to servo according to previously given speed planning (i.e. offline speed planning).Cause
This, carries out speed planning (i.e. on-line velocity planning) in real time and is more able to satisfy application request.It can be seen that speed planning is
The key technology of industrial robot, stationarity, the real-time control of robot motion are the important of evaluation robot motion's performance
Technical indicator.
Summary of the invention
The technical problem that the present invention solves is, in the case where starting point to the end distance is shorter, how to plan in real time
The motion state of target refers to target from starting point, with zero acceleration and with arbitrary initial acceleration and initial velocity
Fixed movement velocity is reached home, and makes in target motion process that acceleration movement curve is continuous, speed curve movement is smooth, from
And guarantee the stationarity of target during the motion.
According to an aspect of an embodiment of the present invention, a kind of method for control speed is provided, comprising: in target with arbitrary
Initial acceleration and initial velocity in the case where the starting point, using the distance of starting point to the end redefine target plus plus
Speed absolute value JB；Target is controlled with JB, 0 or-JBIt is moved from starting point by the shortest time to terminal, so that mesh for acceleration
It is marked with zero acceleration and specified movement velocity is reached home.
In some embodiments, in the initial acceleration a of target0In the case where zero, starting point to the end is utilized
Distance redefines the first acceleration absolute value J of targetB1；Target is controlled from starting point with-JB1It is accelerated to for accelerationAgain with JB1, 0 or-JB1Terminal velocity v is decelerated to for acceleratione。
In some embodiments, in the initial acceleration a of target0In the case where zero, starting point to the end is utilized
Distance redefines the first acceleration absolute value J of targetB1；Target is controlled from starting point with JB1, 0 or-JB1For acceleration plus
Fast speed v to terminale。
In some embodiments, ifWherein aBIndicate the absolute of the maximum limitation acceleration of target
Value, then control target in the first preset time with-JB1It carries out subtracting acceleration, with-J in the second preset timeB1It is added and subtracted
Speed, with-a in third preset timeBEven deceleration is carried out, with J within the 4th timeB1Slow down；IfTarget is then controlled in the 5th preset time with-JB1It carries out subtracting acceleration, when the 6th is default
In with-JB1Acceleration and deceleration are carried out, with J in the 7th preset timeB1Slow down.
In some embodiments, ifTarget is then controlled in the 8th preset time with JB1
It carries out plus accelerates, with-J in the 9th preset timeB1It carries out subtracting acceleration；IfTarget is then controlled
With J in ten preset timesB1It carries out plus accelerates, with a in the 11st preset timeBEven acceleration is carried out, in the 12nd preset time
It is interior with-JB1It carries out subtracting acceleration.
In some embodiments, in the initial acceleration a of target0In minus situation, the road of starting point to the end is utilized
Journey redefines the second acceleration absolute value J of targetB2；Target is controlled from starting point with JB2Acceleration is decelerated toAgain with JB2, 0 or-JB2Terminal velocity v is accelerated to for acceleratione。
In some embodiments, in the initial acceleration a of target0In minus situation, the road of starting point to the end is utilized
Journey redefines the second acceleration absolute value J of targetB2；Target is controlled from starting point with JB2, 0 or-JB2For acceleration deceleration
Speed v to terminale。
In some embodiments, ifTarget is then controlled in the 13rd preset time with JB2Into
Row slows down, with J in the 14th preset timeB2It carries out plus accelerates, with a in the 15th preset timeBEven acceleration is carried out,
With-J in 16th preset timeB2It carries out subtracting acceleration；IfTarget is then controlled the 17th
With J in preset timeB2Slow down, with J in the 18th preset timeB2It carries out plus accelerates, in the 19th preset time
With-JB2It carries out subtracting acceleration.
In some embodiments, ifTarget is then controlled in the 20th preset time
With-JB2Acceleration and deceleration are carried out, with J in the 21st preset timeB2Slow down；IfThen control
Target is in the 22nd preset time with-JB2Acceleration and deceleration are carried out, with-a in the 23rd preset timeBEven deceleration is carried out,
With J in the 24th preset timeB2Slow down.
Other side according to an embodiment of the present invention provides a kind of speed control unit, comprising: acceleration determines
Module, in the case where being configured as in target with arbitrary initial acceleration and initial velocity from starting point, extremely using starting point
The distance of terminal redefines the acceleration absolute value J of targetB；Motion-control module is configured as control target with JB、0
Or-JBIt is moved from starting point by the shortest time to terminal, so that target is with zero acceleration and specified movement for acceleration
Speed is reached home.
In some embodiments, acceleration determining module is configured as: in the initial acceleration a of target0Not less than zero
In the case where, the first acceleration absolute value J of target is redefined using the distance of starting point to the endB1；Motion-control module
Be configured as: control target is from starting point with-JB1It is accelerated to for accelerationAgain with JB1, 0 or-JB1For acceleration
It is decelerated to terminal velocity ve。
In some embodiments, acceleration determining module is configured as: in the initial acceleration a of target0Not less than zero
In the case where, the first acceleration absolute value J of target is redefined using the distance of starting point to the endB1；Motion-control module
Be configured as: control target is from starting point with JB1, 0 or-JB1Terminal velocity v is accelerated to for acceleratione。
In some embodiments, motion-control module is configured as: ifWherein aBIndicate target
Maximum limitation acceleration absolute value, then control target in the first preset time with-JB1It carries out subtracting acceleration, it is default second
With-J in timeB1Acceleration and deceleration are carried out, with-a in third preset timeBEven deceleration is carried out, with J within the 4th timeB1Subtracted
Slow down；IfTarget is then controlled in the 5th preset time with-JB1It carries out subtracting acceleration,
With-J in six preset timesB1Acceleration and deceleration are carried out, with J in the 7th preset timeB1Slow down.
In some embodiments, motion-control module is configured as: ifThen control mesh
It is marked in the 8th preset time with JB1It carries out plus accelerates, with-J in the 9th preset timeB1It carries out subtracting acceleration；IfTarget is then controlled in the tenth preset time with JB1It carries out plus accelerates, in the 11st preset time
With aBEven acceleration is carried out, with-J in the 12nd preset timeB1It carries out subtracting acceleration.
In some embodiments, acceleration determining module is configured as: in the initial acceleration a of target0It is minus
In the case of, the second acceleration absolute value J of target is redefined using the distance of starting point to the endB2；Motion-control module quilt
It is configured that control target from starting point with JB2Acceleration is decelerated toAgain with JB2, 0 or-JB2For acceleration acceleration
Speed v to terminale。
In some embodiments, acceleration determining module is configured as: in the initial acceleration a of target0It is minus
In the case of, the second acceleration absolute value J of target is redefined using the distance of starting point to the endB2；Motion-control module quilt
It is configured that control target from starting point with JB2, 0 or-JB2Terminal velocity v is decelerated to for acceleratione。
In some embodiments, motion-control module is configured as: ifTarget is then controlled
With J in 13 preset timesB2Slow down, with J in the 14th preset timeB2It carries out plus accelerates, when the 15th is default
In with aBEven acceleration is carried out, with-J in the 16th preset timeB2It carries out subtracting acceleration；If
Target is then controlled in the 17th preset time with JB2Slow down, with J in the 18th preset timeB2It carries out plus accelerates,
With-J in the 19th preset timeB2It carries out subtracting acceleration.
In some embodiments, motion-control module is configured as: ifThen control mesh
It is marked in the 20th preset time with-JB2Acceleration and deceleration are carried out, with J in the 21st preset timeB2Slow down；IfTarget is then controlled in the 22nd preset time with-JB2Acceleration and deceleration are carried out, it is default the 23rd
With-a in timeBEven deceleration is carried out, with J in the 24th preset timeB2Slow down.
Another aspect according to an embodiment of the present invention provides another speed control unit, comprising: memory；With
And it is coupled to the processor of memory, processor is configured as executing such as preceding speed based on instruction stored in memory
Control method.
Another aspect according to an embodiment of the present invention provides a kind of computer readable storage medium, wherein computer
Readable storage medium storing program for executing is stored with computer instruction, and instruction realizes method for control speed as the aforementioned when being executed by processor.
The disclosure can be in the case where starting point to the end distance be shorter, and the motion state of the real-time object of planning makes target
It is reached home with arbitrary initial acceleration and initial velocity from starting point, with zero acceleration and specified movement velocity,
And make in target motion process that acceleration movement curve is continuous, speed curve movement is smooth, to guarantee target in motion process
In stationarity.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the accelerating curve schematic diagram of S type rate curve.
Fig. 2A shows the accelerating curve of the first acceleration.
Fig. 2 B shows the accelerating curve of second of acceleration.
Fig. 2 C shows the accelerating curve of the third acceleration.
Fig. 3 A shows the accelerating curve of the first deceleration.
Fig. 3 B shows the accelerating curve of second of deceleration.
Fig. 3 C shows the accelerating curve of the third deceleration.
Fig. 4 A shows situation 3a) accelerating curve.
Fig. 4 B shows situation 3b) accelerating curve.
Fig. 4 C shows situation 3c) accelerating curve.
Fig. 4 D shows situation 3d) accelerating curve.
Fig. 5 A shows situation 5a) accelerating curve.
Fig. 5 B shows situation 5b) accelerating curve.
Fig. 5 C shows situation 5c) accelerating curve.
Fig. 5 D shows situation 5d) accelerating curve.
Fig. 6 shows the structural schematic diagram of the speed control unit of one embodiment of the invention.
Fig. 7 shows the structural schematic diagram of the speed control unit of another embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under all other embodiment obtained, shall fall within the protection scope of the present invention.
Inventor is the study found that there are mainly two types of existing speed planning schemes.
One is trapezoidal velocity planning curves.The characteristics of rate curve, is accelerated in moderating process, and acceleration is absolute
Value is all the constant value being manually set.However, trapezoidal rate curve stationarity is poor.Acceleration corresponding to trapezoidal rate curve
Curve is step type, and the rate of acceleration change of impulse form can be generated at the jump of acceleration, can be to the machine being currently running
People brings impact, shortens the service life of robot device.
Another kind is S type rate curve.S type rate curve can control the change rate of acceleration.S type speed is bent
The accelerating curve of line is continuous, and is smoothly transitted at feedrate linking, therefore S type rate curve is a kind of energy limit angles
The method for control speed of velocity jump.However, existing all S type rate curve programmes, based on the assumption that condition has been
The distance of point to emphasis is larger, therefore limits the application range of S type rate curve programme to a certain extent.The disclosure
The situation that above-mentioned assumed condition is set up hereinafter is referred to as normal condition, invalid situation is referred to as emergency.
For problem corresponding to emergency, a kind of method for control speed is inventors herein proposed, enables to starting point to weight
The distance of point can also apply S type rate curve programme when smaller.It is further explained below.
Model is initially set up to analyze the technical problem.If automated guided vehicle (Automated Guided
Vehicle, AGV) initial position O point sets out, terminal E point is run to along straight line OE.There are following preconditions:
1) acceleration at O point is a0Speed is v0, the acceleration at E point is 0, speed ve；
2) AGV maximum limitation acceleration and maximum limitation speed are respectively aBAnd vB；AGV is actually reached most in operation
High acceleration and maximum speed are respectively amAnd vm；
3) the maximum limitation absolute value of the Jerk factor is JMaxB；In operational process, the Jerk factor only value in-J, 0, J；
Unless in case of emergency, the Jerk factor is in-JB,0,JBMiddle value, and J≤JB≤JMaxB；
4) distance of point O to point E is SOE。
Problem is: target with arbitrary initial acceleration and initial velocity from starting point in the case where, utilize starting point
Distance to terminal redefines the acceleration absolute value J of targetB, target is controlled with JB, 0 or-JBIt is acceleration from starting point
To terminal by shortest time movement, so that target is reached home with zero acceleration and specified movement velocity.
Fig. 1 shows the accelerating curve schematic diagram of S type rate curve.The curve is formed by eight sections:
First segment, acceleration are negative direction, and acceleration absolute value is gradually reduced, and in T1Moment is zero；
Second segment, acceleration are positive direction, and acceleration absolute value is gradually increased, and in T2Moment reaches peak acceleration am；
Third section, acceleration are positive direction, and in T2To T3Period trolley is with peak acceleration amAccelerate (maximum acceleration
Spend amIt is equally likely to maximum limitation acceleration aB)；
4th section, acceleration is positive direction, and acceleration absolute value is gradually reduced, and in T4Moment is zero；
5th section, acceleration zero, and in T4To T5Period trolley limits speed v with maximumBAt the uniform velocity advance；
6th section, acceleration is negative direction, and acceleration absolute value is gradually increased, and in T6Moment reaches negative direction most greatly
Speed am；
7th section, acceleration is negative direction, and in T6To T7Period trolley limits acceleration a with negative direction maximummSlow down
(peak acceleration amIt is equally likely to maximum limitation acceleration aB)；
8th section, acceleration is negative direction, and acceleration absolute value is gradually reduced, and in T8Moment is zero.
Three kinds of basic acceleration and three kinds of basic decelerations are considered below.Accelerating curve of the AGV in entire movement is all
Zero can be equal to by this six kinds of basic scenarios and acceleration to form.If AGV uses six kinds of bases from interim starting point bt (begin point)
This situation moves to temporary terminus et (end point).Acceleration at interim starting point bt is abt, speed vbt, interim
Acceleration at terminal et point is 0, speed vet.Trolley is by three kinds of basic acceleration from interim starting point bt to temporary terminus et
When displacement function be Sac(abt,vbt,vet,JB), Sac1() indicates the distance of trolley to terminal by one section of accelerator movement
Calculate function, Sac2() indicates that trolley calculates function, S by the distance of two sections of accelerator movements to terminalac3() indicates trolley
Function is calculated by the distance of three sections of accelerator movements to terminal,Indicate trolley by one section of accelerator movement to terminal
Acceleration time,Indicate the acceleration time of trolley to terminal by two sections of accelerator movements,Indicate that trolley passes through three sections
The acceleration time of accelerator movement to terminal.When trolley passes through three kinds of basic decelerations from interim starting point bt to temporary terminus et
Displacement function be Sde(abt,vbt,vet,JB), Sde1() indicates the viameter of trolley to terminal by one section of moderating process movement
Calculate function, Sde2() indicates that trolley calculates function, S by the distance of two sections of moderating process movements to terminalde3() indicates trolley warp
It crosses the distance of three sections of moderating process movements to terminal and calculates function,Indicate that trolley moves to terminal by one section of moderating process
Deceleration time,Indicate the deceleration time of trolley to terminal by two sections of moderating process movements,Indicate that trolley subtracts by three sections
The deceleration time of fast course motion to terminal.It should be noted that T1To T8、ExtremelyThese times are all variable below
Physical quantity, specific value should be calculated using corresponding formula at different conditions.
1) three kinds of basic acceleration
Fig. 2A shows the accelerating curve of the first acceleration.
WhenWhen, at this time the acceleration time beThe displacement of AGV is
Fig. 2 B shows the accelerating curve of second of acceleration.
WhenWhen, second of acceleration.The acceleration time is divided into two sections at this time,The displacement of AGV is
Fig. 2 C shows the accelerating curve of the third acceleration.
WhenWhen, the third acceleration.The acceleration time is divided into three sections at this time, and the acceleration time is respectively as follows:The displacement of AGV is
By being analyzed above it can be concluded that the acceleration distance calculation formula of trolley is as follows:
2) three kinds of basic decelerations
Fig. 3 A shows the accelerating curve of the first deceleration.
WhenWhen, the first deceleration.Deceleration time is at this timeThe displacement of AGV is
Fig. 3 B shows the accelerating curve of second of deceleration.
WhenWhen, second of deceleration.Deceleration time is divided into two sections at this timeThe displacement of AGV is
Fig. 3 C shows the accelerating curve of the third deceleration.
WhenWhen, the third deceleration.Deceleration time is divided into three sections at this timeThe displacement of AGV is
By being analyzed above it can be concluded that the deceleration distance calculation formula of trolley is as follows:
3) critical value of distance
Remember the critical value difference of short patha0When >=0, short path critical value
Calculation formula are as follows:
a0When < 0, short path critical valueCalculation formula are as follows:
The prior art forWhen invalid, speed planning scheme is not provided.Below
Analysis is worked asWhen invalid, how speed planning is carried out.It will be understood by those skilled in the art that i.e.
JustIt is invalid, it is still necessary to meetIfIt is invalid, then objectively will be unable to realize with arbitrary initial acceleration and initial
Speed is reached home from starting point, with zero acceleration and specified movement velocity, and makes acceleration in target motion process
Curve movement is continuous, speed curve movement is smooth.?Under invalid extreme case,
J can be enabledB=JMaxB, so that motion state when trolley passes through terminal approaches zero acceleration and specified movement speed as far as possible
Degree.
The first step judges a0Size.If a0>=0, into second step；Otherwise a0< 0, into the 4th step.
Second step, in the initial acceleration a of target0In the case where zero, using starting point to the end distance again
Determine the first acceleration absolute value J of targetB1.Specific algorithm is exemplified below:
2a) enable J1=JB, J2=JMaxB,And selected threshold ε1；
2b) calculate
J 2c) is redefined using dichotomyBIf:Then enable J1=J1, J2=
J3,Return step 2b)；IfJ1=J3, J2=J2 are then enabled,Return step 2b)；IfThen dichotomy terminates, and resets JB=J3
And enter third step.
Third step controls target from starting point with-JB1It is accelerated to for accelerationAgain with JB1, 0 or-JB1To add
Acceleration is decelerated to terminal velocity ve.Concrete condition is exemplified below:
3a) Fig. 4 A shows situation 3a) accelerating curve.As shown in Figure 4 A, ifThen control
Target is in the first preset time with-JB1It carries out subtracting acceleration, with-J in the second preset timeB1Acceleration and deceleration are carried out, it is pre- in third
If with-a in the timeBEven deceleration is carried out, with J within the 4th timeB1Slow down.That is:Wherein, T4For the first preset time, T4To T6For the second preset time,
T6To T7For third preset time, T7To T8For the 4th preset time.HereAcceleration time when using the first acceleration situation
Calculation formula determines,Deceleration time calculation formula when the third deceleration situation is respectively adopted determines, then
Into the 6th step.If 3a) invalid, enter 3b).
3b) Fig. 4 B shows situation 3b) accelerating curve.As shown in Figure 4 B, if
Target is then controlled in the 5th preset time with-JB1It carries out subtracting acceleration, with-J in the 6th preset timeB1Acceleration and deceleration are carried out,
With J in 7th preset timeB1Slow down.That is:Wherein, T4It is default for the 5th
Time, T4To T6For the 6th preset time, T6To T8For the 7th preset time.HereAdding when situation, is accelerated using the first
Fast time calculation formula determines,Deceleration time calculation formula when second of deceleration situation is respectively adopted determines, so
Enter the tenth step afterwards.If 3b) invalid, subsequently into 3c).
It will be understood by those skilled in the art that meeting T in step 3a) and 3b)1=0, T3=T2=T1,T5=T4。
In the third step, it is also possible to control target from starting point with JB1, 0 or-JB1Terminal velocity v is accelerated to for acceleratione。
Concrete condition is exemplified below:
3c) Fig. 4 C shows situation 3c) accelerating curve.As shown in Figure 4 C, if
Target is then controlled in the 8th preset time with JB1It carries out plus accelerates, with-J in the 9th preset timeB1It carries out subtracting acceleration.That is:Wherein, T2For the 8th preset time, T2To T4For the 9th preset time.HereIt is respectively adopted
Two kinds accelerate acceleration time calculation formula when situation to determine, subsequently into the tenth step.If 3c) invalid, into 3d).
3d) Fig. 4 D shows situation 3d) accelerating curve.As shown in Figure 4 D, ifThen control
Target is in the tenth preset time with JB1It carries out plus accelerates, with a in the 11st preset timeBEven acceleration is carried out, the 12nd
With-J in preset timeB1It carries out subtracting acceleration.That is:Wherein, T2For the tenth preset time, T2To T3
For the 11st preset time, T3To T4For the 12nd preset time.HereBe respectively adopted the third accelerate situation when
Acceleration time calculation formula determines, subsequently into the tenth step.
4th step redefines the second acceleration absolute value J of target using the distance of starting point to the endB2.It is specific to calculate
Method is exemplified below:
4a) enable J1=JB, J2=JMaxB,And selected threshold ε2；
4b) calculate
J 4c) is redefined using dichotomyBIf:J1=J1, J2=J3 are then enabled,Return step 4b)；IfJ1=J3, J2=J2 are then enabled,Return step 4b)；IfThen dichotomy terminates, and resets JB=J3 goes forward side by side
Enter the 5th step.
5th step controls target from starting point with JB2Acceleration is decelerated toAgain with JB2, 0 or-JB2To add
Speed accelerates to terminal velocity ve。
Concrete condition is exemplified below:
5a) Fig. 5 A shows situation 5a) accelerating curve.As shown in Figure 5A, ifThen control
Target is in the 13rd preset time with JB2Slow down, with J in the 14th preset timeB2It carries out plus accelerates, the tenth
With a in five preset timesBEven acceleration is carried out, with-J in the 16th preset timeB2It carries out subtracting acceleration.That is:Wherein, T1For the 13rd preset time, T1To T2It is pre- for the 14th
If the time, T2To T3For the 15th preset time, T3To T4For the 16th preset time.HereUsing the first deceleration situation
When acceleration time calculation formula determine,Deceleration time calculation formula when the third accelerates situation is respectively adopted
It determines, subsequently into the 6th step.If 5a) invalid, enter 5b).
5b) Fig. 5 B shows situation 5b) accelerating curve.As shown in Figure 5 B, if
Target is then controlled in the 17th preset time with JB2Slow down, with J in the 18th preset timeB2It carries out plus accelerates,
With-J in the 19th preset timeB2It carries out subtracting acceleration.That is:Wherein, T1It is the tenth
Seven preset times, T1To T2For the 18th preset time, T2To T4For the 19th preset time.HereUsing the first deceleration
Acceleration time calculation formula when situation determines,Deceleration time when second of deceleration situation is respectively adopted calculates public
Formula determines, subsequently into the 6th step.If 5b) invalid, subsequently into 5c).
In the 5th step, it is also possible to control target from starting point with JB2, 0 or-JB2Terminal velocity v is decelerated to for acceleratione。
Concrete condition is exemplified below:
5c) Fig. 5 C shows situation 5c) accelerating curve.As shown in Figure 5 C, if
Target is then controlled in the 20th preset time with-JB2Acceleration and deceleration are carried out, with J in the 21st preset timeB2Subtract
Speed.That is:Wherein, T6For the 20th preset time, T6To T8For the 21st preset time.HereAcceleration time calculation formula when second of deceleration situation is respectively adopted determines, subsequently into the 6th step.If 5c) not
It sets up, into 5d).
5d) Fig. 5 D shows situation 5d) accelerating curve.As shown in Figure 5 D, ifThen control
Target is in the 22nd preset time with-JB2Acceleration and deceleration are carried out, with-a in the 23rd preset timeBEven deceleration is carried out,
With J in the 24th preset timeB2Slow down.That is:Wherein, T6It is
22 preset times, T6To T7For the 23rd preset time, T7To T8For the 24th preset time.Here
Acceleration time calculation formula when the third deceleration situation is respectively adopted determines, subsequently into the 6th step.
Tenth step exports the time interval T of acceleration changei, i=1,2 ..., 8, algorithm terminates.
Further, in practical application, AGV maximum limits acceleration aBSpeed v is limited with maximumBBeing also can be by
Staff carries out pre-set.Certainly, a is setBWhen should meet aBNo more than aBMax, vBNo more than vBMax, wherein aBMaxIt is
Objectively attainable maximum limits acceleration, v to AGVBMaxIt is AGV objectively attainable maximum limitation speed.
Relevant S type rate curve is also based on the assumption that carry out speed planning:
(1) if a0>=0, then
(2) if a0< 0, then
(3)|am|≤aB, | vm|≤vB。
When being in an emergency, above-mentioned hypothesis (1), (2), (3) are possible invalid.At this point, further, the present embodiment
It can carry out the emergent management of the 0th step.
0th step, resettingaB=max { aB,|a0|, ve=sgn (ve)·
min{vB,|ve|, wherein sgn () is sign function.
So, when above-mentioned hypothesis (1), (2), (3) are invalid, speed planning can also be carried out, corresponding skill is reached
Art effect.
Above-described embodiment proposes a kind of speed planning method of S type rate curve, can starting point to the end distance compared with
In the case where short (or emergency), the motion state of the real-time object of planning, make target with arbitrary initial acceleration and just
Beginning speed is reached home from starting point, with zero acceleration and specified movement velocity, and makes to accelerate in target motion process
Degree curve movement is continuous, speed curve movement is smooth, to guarantee the stationarity of target during the motion.The present embodiment is expanded
The application range of S type speed planning, so that it not only can guarantee that robot is steadily run without impact during the motion, moreover it is possible to
The various emergency situations faced in reply practical application.
The speed control unit of one embodiment of the invention is described below with reference to Fig. 6.
Fig. 6 shows the structural schematic diagram of the speed control unit of one embodiment of the invention.As shown in fig. 6, this implementation
Example in speed control unit 60 include:
Acceleration determining module 602 is configured as in target with arbitrary initial acceleration and initial velocity from starting point
In the case where setting out, the acceleration absolute value J of target is redefined using the distance of starting point to the endB；
Motion-control module 604 is configured as control target with JB, 0 or-JBFor acceleration from starting point by most in short-term
Between move to terminal so that target is reached home with zero acceleration and specified movement velocity.
In some embodiments, acceleration determining module 602 is configured as: in the initial acceleration a of target0It is not less than
In the case where zero, the first acceleration absolute value J of target is redefined using the distance of starting point to the endB1；Motion control mould
Block 604 is configured as: control target is from starting point with-JB1It is accelerated to for accelerationAgain with JB1, 0 or-JB1To add
Acceleration is decelerated to terminal velocity ve。
In some embodiments, acceleration determining module 602 is configured as: in the initial acceleration a of target0It is not less than
In the case where zero, the first acceleration absolute value J of target is redefined using the distance of starting point to the endB1；Motion control mould
Block 604 is configured as: control target is from starting point with JB1, 0 or-JB1Terminal velocity v is accelerated to for acceleratione。
In some embodiments, motion-control module 604 is configured as: ifWherein aBIndicate mesh
Target maximum limits the absolute value of acceleration, then controls target in the first preset time with-JB1It carries out subtracting acceleration, it is pre- second
If with-J in the timeB1Acceleration and deceleration are carried out, with-a in third preset timeBEven deceleration is carried out, with J within the 4th timeB1It carries out
Slow down；IfTarget is then controlled in the 5th preset time with-JB1It carries out subtracting acceleration,
With-J in 6th preset timeB1Acceleration and deceleration are carried out, with J in the 7th preset timeB1Slow down.
In some embodiments, motion-control module 604 is configured as: ifThen control
Target is in the 8th preset time with JB1It carries out plus accelerates, with-J in the 9th preset timeB1It carries out subtracting acceleration；IfTarget is then controlled in the tenth preset time with JB1It carries out plus accelerates, in the 11st preset time
With aBEven acceleration is carried out, with-J in the 12nd preset timeB1It carries out subtracting acceleration.
In some embodiments, acceleration determining module 602 is configured as: in the initial acceleration a of target0Less than zero
In the case where, the second acceleration absolute value J of target is redefined using the distance of starting point to the endB2；Motion-control module
604 are configured as: control target is from starting point with JB2Acceleration is decelerated toAgain with JB2, 0 or-JB2For acceleration
Accelerate to terminal velocity ve。
In some embodiments, acceleration determining module 602 is configured as: in the initial acceleration a of target0Less than zero
In the case where, the second acceleration absolute value J of target is redefined using the distance of starting point to the endB2；Motion-control module
604 are configured as: control target is from starting point with JB2, 0 or-JB2Terminal velocity v is decelerated to for acceleratione。
In some embodiments, motion-control module 604 is configured as: ifTarget is then controlled to exist
With J in 13rd preset timeB2Slow down, with J in the 14th preset timeB2It carries out plus accelerates, it is default the 15th
With a in timeBEven acceleration is carried out, with-J in the 16th preset timeB2It carries out subtracting acceleration；If
Target is then controlled in the 17th preset time with JB2Slow down, with J in the 18th preset timeB2It carries out plus accelerates,
With-J in the 19th preset timeB2It carries out subtracting acceleration.
In some embodiments, motion-control module 604 is configured as: ifThen control
Target processed is in the 20th preset time with-JB2Acceleration and deceleration are carried out, with J in the 21st preset timeB2Slow down；
IfTarget is then controlled in the 22nd preset time with-JB2Acceleration and deceleration are carried out, it is pre- the 23rd
If with-a in the timeBEven deceleration is carried out, with J in the 24th preset timeB2Slow down.
Above-described embodiment proposes a kind of speed planning method of S type rate curve, can starting point to the end distance compared with
In the case where short (or emergency), the motion state of the real-time object of planning, make target with arbitrary initial acceleration and just
Beginning speed is reached home from starting point, with zero acceleration and specified movement velocity, and makes to accelerate in target motion process
Degree curve movement is continuous, speed curve movement is smooth, to guarantee the stationarity of target during the motion.The present embodiment is expanded
The application range of S type speed planning, so that it not only can guarantee that robot is steadily run without impact during the motion, moreover it is possible to
The various emergency situations faced in reply practical application.
Fig. 7 shows the structural schematic diagram of the speed control unit of another embodiment of the present invention.As shown in fig. 7, the reality
The speed control unit 70 for applying example includes: memory 710 and the processor 720 for being coupled to the memory 710, processor 720
It is configured as executing the method for control speed in any one aforementioned embodiment based on the instruction being stored in memory 710.
Wherein, memory 710 is such as may include system storage, fixed non-volatile memory medium.System storage
Device is for example stored with operating system, application program, Boot loader (Boot Loader) and other programs etc..
A kind of speed control unit 70 can also include input/output interface 730, network interface 740, memory interface 750
Deng.It can for example be connected by bus 760 between these interfaces 730,740,750 and memory 710 and processor 720.Its
In, the input-output equipment such as input/output interface 730 is display, mouse, keyboard, touch screen provide connecting interface.Network connects
Mouth 740 provides connecting interface for various networked devices.The external storages such as memory interface 740 is SD card, USB flash disk provide connection and connect
Mouthful.
The invention also includes a kind of computer readable storage mediums, are stored thereon with computer instruction, and the instruction is processed
Device realizes the method for control speed in any one aforementioned embodiment when executing.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The calculating implemented in non-transient storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) can be used
The form of machine program product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (20)
1. a kind of method for control speed, comprising:
Target with arbitrary initial acceleration and initial velocity from starting point in the case where, utilize the distance of starting point to the end
Redefine the acceleration absolute value J of targetB；
Target is controlled with JB, 0 or-JBIt is moved to terminal from starting point by the shortest time for acceleration, so that target accelerates with zero
Degree and specified movement velocity are reached home.
2. method for control speed as described in claim 1, wherein in the initial acceleration a of target0In the case where zero,
The first acceleration absolute value J of target is redefined using the distance of starting point to the endB1；
Target is controlled from starting point with-JB1It is accelerated to for accelerationAgain with JB1, 0 or-JB1For acceleration deceleration
Speed v to terminale。
3. method for control speed as described in claim 1, wherein in the initial acceleration a of target0In the case where zero,
The first acceleration absolute value J of target is redefined using the distance of starting point to the endB1；
Target is controlled from starting point with JB1, 0 or-JB1Terminal velocity v is accelerated to for acceleratione。
4. method for control speed as claimed in claim 2, wherein
IfWherein aBThe absolute value for indicating the maximum limitation acceleration of target, then control target first
With-J in preset timeB1It carries out subtracting acceleration, with-J in the second preset timeB1Acceleration and deceleration are carried out, in third preset time
With-aBEven deceleration is carried out, with J within the 4th timeB1Slow down；
IfTarget is then controlled in the 5th preset time with-JB1It carries out subtracting acceleration, the 6th
With-J in preset timeB1Acceleration and deceleration are carried out, with J in the 7th preset timeB1Slow down.
5. method for control speed as claimed in claim 3, wherein
IfTarget is then controlled in the 8th preset time with JB1It carries out plus accelerates, it is pre- the 9th
If with-J in the timeB1It carries out subtracting acceleration；
IfTarget is then controlled in the tenth preset time with JB1It carries out plus accelerates, it is default the 11st
With a in timeBEven acceleration is carried out, with-J in the 12nd preset timeB1It carries out subtracting acceleration.
6. method for control speed as described in claim 1, wherein in the initial acceleration a of target0In minus situation, benefit
The second acceleration absolute value J of target is redefined with the distance of starting point to the endB2；
Target is controlled from starting point with JB2Acceleration is decelerated toAgain with JB2, 0 or-JB2End is accelerated to for acceleration
Spot speed ve。
7. method for control speed as described in claim 1, wherein in the initial acceleration a of target0In minus situation, benefit
The second acceleration absolute value J of target is redefined with the distance of starting point to the endB2；
Target is controlled from starting point with JB2, 0 or-JB2Terminal velocity v is decelerated to for acceleratione。
8. method for control speed as claimed in claim 6, wherein
IfTarget is then controlled in the 13rd preset time with JB2Slow down, it is pre- the 14th
If with J in the timeB2It carries out plus accelerates, with a in the 15th preset timeBCarry out even acceleration, in the 16th preset time with-
JB2It carries out subtracting acceleration；
IfTarget is then controlled in the 17th preset time with JB2Slow down, the
With J in 18 preset timesB2It carries out plus accelerates, with-J in the 19th preset timeB2It carries out subtracting acceleration.
9. method for control speed as claimed in claim 7, wherein
IfTarget is then controlled in the 20th preset time with-JB2Acceleration and deceleration are carried out,
With J in 21st preset timeB2Slow down；
IfTarget is then controlled in the 22nd preset time with-JB2Acceleration and deceleration are carried out, the 20th
With-a in three preset timesBEven deceleration is carried out, with J in the 24th preset timeB2Slow down.
10. a kind of speed control unit, comprising:
Acceleration determining module is configured as the feelings in target with arbitrary initial acceleration and initial velocity from starting point
Under condition, the acceleration absolute value J of target is redefined using the distance of starting point to the endB；
Motion-control module is configured as control target with JB, 0 or-JBIt is moved to from starting point by the shortest time for acceleration
Terminal, so that target is reached home with zero acceleration and specified movement velocity.
11. speed control unit as claimed in claim 10, wherein
The acceleration determining module is configured as: in the initial acceleration a of target0In the case where zero, starting point is utilized
Distance to terminal redefines the first acceleration absolute value J of targetB1；
The motion-control module is configured as: control target is from starting point with-JB1It is accelerated to for accelerationAgain with
JB1, 0 or-JB1Terminal velocity v is decelerated to for acceleratione。
12. speed control unit as claimed in claim 10, wherein
The acceleration determining module is configured as: in the initial acceleration a of target0In the case where zero, starting point is utilized
Distance to terminal redefines the first acceleration absolute value J of targetB1；
The motion-control module is configured as: control target is from starting point with JB1, 0 or-JB1Accelerate for acceleration fast to terminal
Spend ve。
13. speed control unit as claimed in claim 11, wherein the motion-control module is configured as:
IfWherein aBThe absolute value for indicating the maximum limitation acceleration of target, then control target first
With-J in preset timeB1It carries out subtracting acceleration, with-J in the second preset timeB1Acceleration and deceleration are carried out, in third preset time
With-aBEven deceleration is carried out, with J within the 4th timeB1Slow down；
IfTarget is then controlled in the 5th preset time with-JB1It carries out subtracting acceleration, the 6th
With-J in preset timeB1Acceleration and deceleration are carried out, with J in the 7th preset timeB1Slow down.
14. speed control unit as claimed in claim 12, wherein the motion-control module is configured as:
IfTarget is then controlled in the 8th preset time with JB1It carries out plus accelerates, it is pre- the 9th
If with-J in the timeB1It carries out subtracting acceleration；
IfTarget is then controlled in the tenth preset time with JB1It carries out plus accelerates, when the 11st is default
In with aBEven acceleration is carried out, with-J in the 12nd preset timeB1It carries out subtracting acceleration.
15. speed control unit as claimed in claim 10, wherein
The acceleration determining module is configured as: in the initial acceleration a of target0In minus situation, extremely using starting point
The distance of terminal redefines the second acceleration absolute value J of targetB2；
The motion-control module is configured as: control target is from starting point with JB2Acceleration is decelerated toAgain with
JB2, 0 or-JB2Terminal velocity v is accelerated to for acceleratione。
16. speed control unit as claimed in claim 10, wherein
The acceleration determining module is configured as: in the initial acceleration a of target0In minus situation, extremely using starting point
The distance of terminal redefines the second acceleration absolute value J of targetB2；
The motion-control module is configured as: control target is from starting point with JB2, 0 or-JB2Slow down for acceleration fast to terminal
Spend ve。
17. the speed control unit stated such as claim 15 s, wherein the motion-control module is configured as:
IfTarget is then controlled in the 13rd preset time with JB2Slow down, it is default the 14th
With J in timeB2It carries out plus accelerates, with a in the 15th preset timeBEven acceleration is carried out, with-J in the 16th preset timeB2
It carries out subtracting acceleration；
IfTarget is then controlled in the 17th preset time with JB2Slow down, the
With J in 18 preset timesB2It carries out plus accelerates, with-J in the 19th preset timeB2It carries out subtracting acceleration.
18. speed control unit as claimed in claim 16, wherein the motion-control module is configured as:
IfTarget is then controlled in the 20th preset time with-JB2Acceleration and deceleration are carried out,
With J in 21st preset timeB2Slow down；
IfTarget is then controlled in the 22nd preset time with-JB2Acceleration and deceleration are carried out, the 20th
With-a in three preset timesBEven deceleration is carried out, with J in the 24th preset timeB2Slow down.
19. a kind of speed control unit, comprising:
Memory；And
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
Execute method for control speed as claimed in any one of claims 1-9 wherein.
20. a kind of computer readable storage medium, wherein the computer-readable recording medium storage has computer instruction, institute
It states and realizes method for control speed as claimed in any one of claims 1-9 wherein when instruction is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810970000.2A CN110377065B (en) | 2018-08-24 | 2018-08-24 | Speed control method, apparatus and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810970000.2A CN110377065B (en) | 2018-08-24 | 2018-08-24 | Speed control method, apparatus and computer readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110377065A true CN110377065A (en) | 2019-10-25 |
| CN110377065B CN110377065B (en) | 2022-11-08 |
Family
ID=68243688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810970000.2A Active CN110377065B (en) | 2018-08-24 | 2018-08-24 | Speed control method, apparatus and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110377065B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110398993A (en) * | 2018-04-24 | 2019-11-01 | 北京京东尚科信息技术有限公司 | Method for control speed, device and computer readable storage medium |
| CN112799296A (en) * | 2021-01-04 | 2021-05-14 | 中钞长城金融设备控股有限公司 | Control system and control method of intelligent stacking machine |
| CN113534789A (en) * | 2021-05-18 | 2021-10-22 | 杭州壹悟科技有限公司 | Real-time planning method and device for cubic polynomial speed curve of mobile robot |
| CN114019914A (en) * | 2021-10-29 | 2022-02-08 | 深圳数马电子技术有限公司 | Method and device for correcting terminal speed, computer equipment and storage medium |
| CN114371612A (en) * | 2021-12-14 | 2022-04-19 | 珠海格力智能装备有限公司 | Moving object acceleration control method, moving object acceleration control device, computer equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2689990A2 (en) * | 2012-07-26 | 2014-01-29 | Volkswagen Aktiengesellschaft | Method and device for recognising when a kerbstone has been driven over |
| CN103713660A (en) * | 2013-12-12 | 2014-04-09 | 南京工程学院 | Control circuit for realizing S curve acceleration and deceleration of motion control system |
| CN104298114A (en) * | 2014-10-29 | 2015-01-21 | 西南科技大学 | Self-adaptive robust S-shaped speed planning algorithm |
| CN106168790A (en) * | 2016-02-29 | 2016-11-30 | 华南理工大学 | A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position |
| WO2017113069A1 (en) * | 2015-12-28 | 2017-07-06 | 深圳配天智能技术研究院有限公司 | S-shaped curve planning method and device, and numerically-controlled machine tool |
-
2018
- 2018-08-24 CN CN201810970000.2A patent/CN110377065B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2689990A2 (en) * | 2012-07-26 | 2014-01-29 | Volkswagen Aktiengesellschaft | Method and device for recognising when a kerbstone has been driven over |
| CN103713660A (en) * | 2013-12-12 | 2014-04-09 | 南京工程学院 | Control circuit for realizing S curve acceleration and deceleration of motion control system |
| CN104298114A (en) * | 2014-10-29 | 2015-01-21 | 西南科技大学 | Self-adaptive robust S-shaped speed planning algorithm |
| WO2017113069A1 (en) * | 2015-12-28 | 2017-07-06 | 深圳配天智能技术研究院有限公司 | S-shaped curve planning method and device, and numerically-controlled machine tool |
| CN106168790A (en) * | 2016-02-29 | 2016-11-30 | 华南理工大学 | A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position |
Non-Patent Citations (1)
| Title |
|---|
| 田军锋等: "数控系统S型曲线加减速快速规划研究", 《小型微型计算机系统》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110398993A (en) * | 2018-04-24 | 2019-11-01 | 北京京东尚科信息技术有限公司 | Method for control speed, device and computer readable storage medium |
| CN110398993B (en) * | 2018-04-24 | 2022-09-06 | 北京京东尚科信息技术有限公司 | Speed control method, apparatus and computer readable storage medium |
| CN112799296A (en) * | 2021-01-04 | 2021-05-14 | 中钞长城金融设备控股有限公司 | Control system and control method of intelligent stacking machine |
| CN113534789A (en) * | 2021-05-18 | 2021-10-22 | 杭州壹悟科技有限公司 | Real-time planning method and device for cubic polynomial speed curve of mobile robot |
| CN113534789B (en) * | 2021-05-18 | 2024-04-05 | 杭州壹悟科技有限公司 | Method and device for real-time planning of three-time polynomial speed curve of mobile robot |
| CN114019914A (en) * | 2021-10-29 | 2022-02-08 | 深圳数马电子技术有限公司 | Method and device for correcting terminal speed, computer equipment and storage medium |
| CN114019914B (en) * | 2021-10-29 | 2024-02-13 | 深圳数马电子技术有限公司 | Endpoint speed correction method, device, computer equipment and storage medium |
| CN114371612A (en) * | 2021-12-14 | 2022-04-19 | 珠海格力智能装备有限公司 | Moving object acceleration control method, moving object acceleration control device, computer equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110377065B (en) | 2022-11-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110377065A (en) | Method for control speed, device and computer readable storage medium | |
| US3699317A (en) | Sampled data numerical contouring machine controller apparatus and method providable with on line capability for contour cornering deceleration and acceleration | |
| CN108748138A (en) | Speed planning method, system, control system, robot and storage medium | |
| CN110320910B (en) | Vehicle avoidance control method and device, electronic equipment and storage medium | |
| CN106168790A (en) | A kind of online change target velocity and the S-shaped Acceleration-deceleration Control Method of position | |
| CN113031621B (en) | Bridge crane safety obstacle avoidance path planning method and system | |
| CN110398993A (en) | Method for control speed, device and computer readable storage medium | |
| CN102809945B (en) | Movement planning method for numerical control processing, movement planner and application thereof | |
| CN108549324A (en) | Workpiece for high speed sorting system follows crawl method for planning track and system | |
| CN108646674A (en) | Position S type smoothing instructions production method, system and electronic equipment | |
| CN115496201A (en) | Train accurate parking control method based on deep reinforcement learning | |
| CN113021329B (en) | Robot motion control method and device, readable storage medium and robot | |
| CN112748662A (en) | Layered nonsingular terminal sliding mode-based control system and method for pendulum elimination and positioning of bridge crane | |
| CN109483551B (en) | Method, device and system for controlling multi-axis motion of robot | |
| CN109048910B (en) | Robot avoidance pre-judging method and device | |
| CN112486034A (en) | Method for verifying trajectory planning, electronic device and storage medium | |
| CN110532033A (en) | A kind of data processing system and data processing method | |
| CN110610140A (en) | Training method, device and equipment of face recognition model and readable storage medium | |
| CN115414130A (en) | Interventional operation robot catheter guide wire action control method and related equipment thereof | |
| CN111356558A (en) | Method and system for simulating a braking process of a robot | |
| CN107390695B (en) | Crane motion trajectory planning method and device | |
| CN105404511A (en) | Physical collision prediction method and apparatus based on ideal geometry | |
| CN110968045A (en) | Speed control method and device for moving target and readable storage medium | |
| CN116901082A (en) | Mechanical arm path planning method and device based on prediction, electronic equipment and medium | |
| CN115625712A (en) | Robot joint constraint trajectory planning method, device, equipment and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200521 Address after: Room A1905, 19th floor, No. 2 Building, 18 Kechuang 11th Street, Beijing Daxing District, Beijing Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 300457 1st floor, phase II, No. 10, 4th Street, Tianjin Economic and Technological Development Zone, Bohai new area, Tianjin Applicant before: Tianjin Jingdong Shentuo Robot Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |