CN112276949A - Adjacent joint space-Cartesian space trajectory transition method and device - Google Patents
Adjacent joint space-Cartesian space trajectory transition method and device Download PDFInfo
- Publication number
- CN112276949A CN112276949A CN202011134624.4A CN202011134624A CN112276949A CN 112276949 A CN112276949 A CN 112276949A CN 202011134624 A CN202011134624 A CN 202011134624A CN 112276949 A CN112276949 A CN 112276949A
- Authority
- CN
- China
- Prior art keywords
- space
- track
- joint space
- speed
- velocity
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a method and a device for transition between adjacent joint space and Cartesian space track, wherein the method comprises the following steps: time synchronization is carried out on each shaft in adjacent space, so that multi-shaft synchronization time reaches each position; taking the final speed of the track of the current section as the initial speed of the track of the next section, taking the initial speed of the track of the current section as the final speed of the track of the previous section, and planning the track to enable the speeds of adjacent spaces to be in smooth transition; performing interpolation operation according to output data of the track plan so as to make the track continuous; the invention has the advantages that: and the speed is smooth at each intermediate process point, unnecessary start and stop are reduced, and the time cost and the energy consumption cost are reduced.
Description
Technical Field
The invention relates to the field of robot motion control, in particular to a method and a device for transition between adjacent joint space and Cartesian space trajectory.
Background
The motion space of the mechanical arm is divided into joint space and Cartesian space, and the motion of the current industrial mechanical arm in the independent joint space and the Cartesian space is very easy to realize. The main method for transition of the mixed space of the joint space and the Cartesian space is to convert the joint space into the Cartesian space through forward kinematics, and then perform trajectory transition on instructions of the Cartesian space and the Cartesian space, for example, perform processing of reducing the speed to zero at an intersection point. For joint space planning of a general robot, namely PTP, each joint usually plans motion independently from a starting point position to a termination point position, and each joint can be started at the same time and can reach a specified point position. The simple joint movement has low requirements on the control of the movement process, and is suitable for the operation with the requirement of quick positioning. However, for the continuous joint space planning movement, if the joints move independently, the speed of each joint is accelerated from a movement starting point to a middle point and finally to a target point, then to 0, and in the continuous start-stop movement, each joint needs to be started and stopped once when each middle point occurs. Therefore, the movement process is uncontrollable, all joints cannot be synchronized to the middle point position, the function of avoiding fixed point obstacles cannot be realized, the efficiency is greatly reduced, the time cost and the energy consumption cost are increased, and the requirements of actual operation are not met.
The existing main method for transition of a mixed space of a joint space and a Cartesian space further comprises a circular arc transition algorithm after mapping to the Cartesian space, but the curvature of the circular arc transition algorithm is constant, and sudden change of the curvature can cause impact of centripetal acceleration and reduce motion precision.
Disclosure of Invention
The invention aims to solve the technical problem that the time cost and the energy consumption cost of an adjacent joint space-Cartesian space track transition method in the prior art are high.
The invention solves the technical problems through the following technical means: a method of adjacent joint space-cartesian space trajectory transition, the method comprising:
the method comprises the following steps: time synchronization is carried out on each shaft in adjacent space, so that multi-shaft synchronization time reaches each position;
step two: taking the final speed of the track of the current section as the initial speed of the track of the next section, taking the initial speed of the track of the current section as the final speed of the track of the previous section, and planning the track to enable the speeds of adjacent spaces to be in smooth transition;
step three: performing interpolation operation according to output data of the track plan so as to make the track continuous; wherein the output data includes an initial velocity, a final velocity, and a position.
The invention makes the multi-axis synchronous time reach each accurate position by time synchronization of each axis in the adjacent space, avoids the occurrence of continuous start-stop motion of each axis from the motion starting point, to the middle point, and finally to the target point, the speed is accelerated from 0, then to 0, and meanwhile, the final speed of the track of the current section is taken as the initial speed of the track of the next section, the initial speed of the track of the current section is taken as the final speed of the track of the previous section, the speed of each axis is smoothly connected and transited at the intersection point of the motion of the two sections of tracks, the speed is smooth at each middle process point, the unnecessary start-stop is reduced, and the time cost and the energy consumption cost are reduced.
Preferably, the first step includes: taking a Cartesian space as a reference space, adopting S-shaped speed planning based on speed to calculate position movement time and posture movement time, taking the maximum time of the two as reference time, and performing S-shaped speed planning based on the reference time when the time of the two is short to realize synchronization of posture and position time; the attitude is a quaternion including a starting point, an end point, a speed and an acceleration.
Preferably, the second step includes: when the previous instruction of the joint space track is a Cartesian space track, the terminal point and the terminal speed of the Cartesian space track are mapped to obtain the joint space starting point position and the initial speed corresponding to the Cartesian space track through Jacobian mapping, and the corresponding joint space starting point position and the initial speed are transmitted to the next joint space instruction to complete smooth transition of adjacent spaces; when the previous command of the Cartesian space trajectory is the joint space trajectory, mapping the previous command of the Cartesian space trajectory to the joint space through Jacobian as the final speed of the joint space trajectory according to the initial speed of the Cartesian space trajectory, and completing smooth transition of adjacent spaces;
preferably, the third step is preceded by: when the initial velocity of the joint space is unreasonable, multiplying the initial velocity vector of the Cartesian space track by a coefficient to ensure that the velocity direction is unchanged, only modifying the velocity, solving the corresponding final velocity of the joint space through a Jacobian matrix, inputting the final velocity of the joint space and returning the final velocity of the joint space which can be actually reached, judging the error of the final velocity of each joint space, when the error between the final velocity of each actually-reachable joint space and the input final velocity of the joint space is larger than a preset value, the joint space fails, continuing to perform iterative modification of the initial velocity of the Cartesian space track, modifying the coefficient to accumulate or reduce the coefficient, when the maximum modification times are exceeded and the failure is still returned, indicating that the initial velocity of the joint space cannot reach the velocity tangent to the Cartesian space, performing the same iterative modification on the initial velocity of the joint space, and if the return fails, indicating that the input data is unreasonable, and modifying the position data, wherein when the error is less than or equal to a preset value, the success is represented, and the modified joint space final speed is adopted as the joint space final speed to ensure that the joint space to Cartesian space speed is continuous.
The invention also provides a device for transition between adjacent joint space and Cartesian space trajectory, which comprises:
the time synchronization module is used for carrying out time synchronization on each shaft in adjacent space so that multi-shaft synchronization time reaches each position;
the track planning module is used for planning the track by taking the final speed of the current section of track as the initial speed of the next section of track and taking the initial speed of the current section of track as the final speed of the previous section of track so as to enable the adjacent space speeds to be in smooth transition;
the interpolation operation module is used for carrying out interpolation operation according to the output data of the track planning so as to ensure that the track is continuous; wherein the output data includes an initial velocity, a final velocity, and a position.
Preferably, the time synchronization module is further configured to: taking a Cartesian space as a reference space, adopting S-shaped speed planning based on speed to calculate position movement time and posture movement time, taking the maximum time of the two as reference time, and performing S-shaped speed planning based on the reference time when the time of the two is short to realize synchronization of posture and position time; wherein, the attitude is a quaternion comprising a starting point, an end point, a speed and an acceleration;
preferably, the trajectory planning module is further configured to: when the previous instruction of the joint space track is a Cartesian space track, the terminal point and the terminal speed of the Cartesian space track are mapped to obtain the joint space starting point position and the initial speed corresponding to the Cartesian space track through Jacobian mapping, and the corresponding joint space starting point position and the initial speed are transmitted to the next joint space instruction to complete smooth transition of adjacent spaces; when the previous command of the Cartesian space trajectory is the joint space trajectory, mapping the previous command of the Cartesian space trajectory to the joint space through Jacobian as the final speed of the joint space trajectory according to the initial speed of the Cartesian space trajectory, and completing smooth transition of adjacent spaces;
preferably, before executing the interpolation operation module, the method further includes: when the initial velocity of the joint space is unreasonable, multiplying the initial velocity vector of the Cartesian space track by a coefficient to ensure that the velocity direction is unchanged, only modifying the velocity, solving the corresponding final velocity of the joint space through a Jacobian matrix, inputting the final velocity of the joint space and returning the final velocity of the joint space which can be actually reached, judging the error of the final velocity of each joint space, when the error between the final velocity of each actually-reachable joint space and the input final velocity of the joint space is larger than a preset value, the joint space fails, continuing to perform iterative modification of the initial velocity of the Cartesian space track, modifying the coefficient to accumulate or reduce the coefficient, when the maximum modification times are exceeded and the failure is still returned, indicating that the initial velocity of the joint space cannot reach the velocity tangent to the Cartesian space, performing the same iterative modification on the initial velocity of the joint space, and if the return fails, indicating that the input data is unreasonable, and modifying the position data, wherein when the error is less than or equal to a preset value, the success is represented, and the modified joint space final speed is adopted as the joint space final speed to ensure that the joint space to Cartesian space speed is continuous.
The invention has the advantages that: the invention makes the multi-axis synchronous time reach each accurate position by time synchronization of each axis in the adjacent space, avoids the occurrence of continuous start-stop motion of each axis from the motion starting point, to the middle point, and finally to the target point, the speed is accelerated from 0, then to 0, and meanwhile, the final speed of the track of the current section is taken as the initial speed of the track of the next section, the initial speed of the track of the current section is taken as the final speed of the track of the previous section, the speed of each axis is smoothly connected and transited at the intersection point of the motion of the two sections of tracks, the speed is smooth at each middle process point, the unnecessary start-stop is reduced, and the time cost and the energy consumption cost are reduced.
Drawings
FIG. 1 is a flowchart of a method for spatial-Cartesian spatial trajectory transition of adjacent joints according to an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating an algorithm of a method for spatial-Cartesian spatial trajectory transition of adjacent joints according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating transition between joint space and Cartesian line in a method for transition between adjacent joint space and Cartesian space trajectories according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating transition of joint space and cartesian circular arcs in an adjacent joint space-cartesian space trajectory transition method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in FIG. 1, the transition method of the adjacent joint space-Cartesian space trajectory mainly ensures that the Cartesian position does not change, the starting and stopping points of the transition trajectory are smooth in speed and continuous in acceleration, and the Cartesian space is synchronized in position and posture time. The method comprises the following steps:
step S1: and carrying out time synchronization on the axes in adjacent space, so that the multi-axis synchronous time reaches each position. When the space is switched, if the intersection point can be reached, the speed at the intersection point needs to be set to be 0, and when the intersection point of the space is switched every time, the space is switched once, and the space is started and stopped. Not only the time cost is high, but also the energy consumption is large. Meanwhile, if only the intersection point can be reached, the speed is continuous, a part of the Cartesian space track is usually modified, in the actual process, the complete Cartesian track is usually expected to be moved by the Cartesian according to the requirements set by a user, and the joint space can be reached, so that the requirements of actual production are usually not met. The invention realizes the continuous speed in the multi-space switching, ensures that the intersection point of the Cartesian space point and the joint space can be reached, and simultaneously ensures that the Cartesian track is not changed. The joint space is excessive to the cartesian space, and in order to ensure that the cartesian space trajectory is not modified, the cartesian space is used as a reference space, and the joint space determines the motion according to the output quantity of the cartesian space. The following describes the transition of the adjacent joint space-cartesian space trajectory in detail, as shown in fig. 2, fig. 3 and fig. 4, as shown in fig. 2, a flowchart of the adjacent joint space-cartesian space trajectory transition algorithm is provided, the text in the diagram is not completely consistent with the following description of the transition steps of the adjacent joint space-cartesian space trajectory, belongs to the description of the computer algorithm, more description is made on the pre-algorithm and post-algorithm processing, the general idea is the same, and details in the diagram are not described here. The step S1 specifically includes:
setting the initial velocity and the final velocity of the attitude (the attitude adopts quaternion) as (0, 0, 0) according to the information of the position, the initial point, the final point, the velocity and the acceleration of the Cartesian space input by a user by taking the Cartesian space as a reference space, calculating the position movement time and the attitude movement time by adopting S-shaped velocity planning based on the velocity, taking the maximum time of the two as the reference time, and performing S-shaped velocity planning based on the reference time when the time of the two is short to realize the synchronization of the attitude and the position time; the attitude is a quaternion including a starting point, an end point, a speed and an acceleration.
Step S2: and taking the final speed of the current section of track as the initial speed of the next section of track, and taking the initial speed of the current section of track as the final speed of the previous section of track, and carrying out track planning to enable the adjacent space speeds to be in smooth transition. The method specifically comprises the following steps: when the previous instruction of the joint space track is a Cartesian space track, the terminal point and the terminal speed of the Cartesian space track are mapped to obtain the joint space starting point position and the initial speed corresponding to the Cartesian space track through Jacobian mapping, and the corresponding joint space starting point position and the initial speed are transmitted to the next joint space instruction to complete smooth transition of adjacent spaces; when the previous command of the Cartesian space trajectory is the joint space trajectory, mapping the previous command of the Cartesian space trajectory to the joint space through Jacobian as the final speed of the joint space trajectory according to the initial speed of the Cartesian space trajectory, and completing smooth transition of adjacent spaces;
according to the initial speed (vs _ x, vs _ y, vs _ z, 0, 0, 0) of the Cartesian space after time synchronization, the final speed of the joint space can be obtained through the Cartesian joint space terminal point input by the user and the Jacobian matrix. The S-shaped speed plan adopted at the moment ensures that the position is always accessible. Therefore, when the initial velocity of the joint space is unreasonable, the situation that the final velocity of the joint is automatically modified by a program may occur, when space transition occurs, the position track is not tangent, and the velocity jumps, in order to solve the problem, a final velocity modification program of the joint space is used, and the final velocity modification program of the joint space is as follows: when the initial velocity of the joint space is unreasonable, multiplying the initial velocity vector of the Cartesian space track by a coefficient to ensure that the velocity direction is unchanged, only modifying the velocity, solving the corresponding final velocity of the joint space through a Jacobian matrix, inputting the final velocity of the joint space and returning the final velocity of the joint space which can be actually reached, judging the error of the final velocity of each joint space, when the error between the final velocity of each actually-reachable joint space and the input final velocity of the joint space is larger than a preset value, the joint space fails, continuing to perform iterative modification of the initial velocity of the Cartesian space track, modifying the coefficient to accumulate or reduce the coefficient, when the maximum modification times are exceeded and the failure is still returned, indicating that the initial velocity of the joint space cannot reach the velocity tangent to the Cartesian space, performing the same iterative modification on the initial velocity of the joint space, and if the return fails, indicating that the input data is unreasonable, and modifying the position data, wherein when the error is less than or equal to a preset value, the success is represented, and the modified joint space final speed is adopted as the joint space final speed to ensure that the joint space to Cartesian space speed is continuous.
Step S3: performing interpolation operation according to output data of the track plan so as to make the track continuous; wherein the output data includes an initial velocity, a final velocity, and a position. The method specifically comprises the following steps: interpolation is performed based on the output data to continue the trajectory. When the Cartesian space trajectory is an arc, only one more auxiliary point is needed to calculate the arc.
It should be noted that, the above only introduces the joint space final velocity correction procedure for the transition from the joint space to the cartesian space, when the cartesian space is transitioned to the joint space, the difference lies in that the joint space final velocity correction procedure is not used, the cartesian space final velocity correction procedure is adopted, the strategy for ensuring that the cartesian position can be reached is adopted, the joint space directly receives the cartesian space planning data, and the cartesian space final velocity calculates the joint velocity through the jacobian matrix as the lower joint space initial velocity.
Through the technical scheme, the invention provides a method for transition between adjacent joint space and Cartesian space trajectories, wherein multiple axes are synchronized in time in adjacent space, so that the multiple axes are synchronized to reach each accurate position, the situation that the axes are accelerated from a motion starting point to a middle point and finally to a target point from 0, then to 0 and then to 0 is avoided, and the continuous start-stop motion is performed when the axes reach 0.
Example 2
Corresponding to embodiment 1 of the present invention, embodiment 2 of the present invention further provides an adjacent joint space-cartesian space trajectory transition device, including:
the time synchronization module is used for carrying out time synchronization on each shaft in adjacent space so that multi-shaft synchronization time reaches each position;
the track planning module is used for planning the track by taking the final speed of the current section of track as the initial speed of the next section of track and taking the initial speed of the current section of track as the final speed of the previous section of track so as to enable the adjacent space speeds to be in smooth transition;
the interpolation operation module is used for carrying out interpolation operation according to the output data of the track planning so as to ensure that the track is continuous; wherein the output data includes an initial velocity, a final velocity, and a position.
Specifically, the time synchronization module is further configured to: taking a Cartesian space as a reference space, adopting S-shaped speed planning based on speed to calculate position movement time and posture movement time, taking the maximum time of the two as reference time, and performing S-shaped speed planning based on the reference time when the time of the two is short to realize synchronization of posture and position time; wherein, the attitude is a quaternion comprising a starting point, an end point, a speed and an acceleration;
specifically, the trajectory planning module is further configured to: when the previous instruction of the joint space track is a Cartesian space track, the terminal point and the terminal speed of the Cartesian space track are mapped to obtain the joint space starting point position and the initial speed corresponding to the Cartesian space track through Jacobian mapping, and the corresponding joint space starting point position and the initial speed are transmitted to the next joint space instruction to complete smooth transition of adjacent spaces; when the previous command of the Cartesian space trajectory is the joint space trajectory, mapping the previous command of the Cartesian space trajectory to the joint space through Jacobian as the final speed of the joint space trajectory according to the initial speed of the Cartesian space trajectory, and completing smooth transition of adjacent spaces;
specifically, before executing the interpolation operation module, the method further includes: when the initial velocity of the joint space is unreasonable, multiplying the initial velocity vector of the Cartesian space track by a coefficient to ensure that the velocity direction is unchanged, only modifying the velocity, solving the corresponding final velocity of the joint space through a Jacobian matrix, inputting the final velocity of the joint space and returning the final velocity of the joint space which can be actually reached, judging the error of the final velocity of each joint space, when the error between the final velocity of each actually-reachable joint space and the input final velocity of the joint space is larger than a preset value, the joint space fails, continuing to perform iterative modification of the initial velocity of the Cartesian space track, modifying the coefficient to accumulate or reduce the coefficient, when the maximum modification times are exceeded and the failure is still returned, indicating that the initial velocity of the joint space cannot reach the velocity tangent to the Cartesian space, performing the same iterative modification on the initial velocity of the joint space, and if the return fails, indicating that the input data is unreasonable, and modifying the position data, wherein when the error is less than or equal to a preset value, the success is represented, and the modified joint space final speed is adopted as the joint space final speed to ensure that the joint space to Cartesian space speed is continuous.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. An adjacent joint space-cartesian space trajectory transition method, comprising:
the method comprises the following steps: time synchronization is carried out on each shaft in adjacent space, so that multi-shaft synchronization time reaches each position;
step two: taking the final speed of the track of the current section as the initial speed of the track of the next section, taking the initial speed of the track of the current section as the final speed of the track of the previous section, and planning the track to enable the speeds of adjacent spaces to be in smooth transition;
step three: performing interpolation operation according to output data of the track plan so as to make the track continuous; wherein the output data includes an initial velocity, a final velocity, and a position.
2. The method for spatial-cartesian spatial trajectory transition of adjacent joints according to claim 1, wherein the first step comprises: taking a Cartesian space as a reference space, adopting S-shaped speed planning based on speed to calculate position movement time and posture movement time, taking the maximum time of the two as reference time, and performing S-shaped speed planning based on the reference time when the time of the two is short to realize synchronization of posture and position time; the attitude is a quaternion including a starting point, an end point, a speed and an acceleration.
3. The method for spatial-cartesian spatial trajectory transition of adjacent joints according to claim 2, wherein the second step comprises: when the previous instruction of the joint space track is a Cartesian space track, the terminal point and the terminal speed of the Cartesian space track are mapped to obtain the joint space starting point position and the initial speed corresponding to the Cartesian space track through Jacobian mapping, and the corresponding joint space starting point position and the initial speed are transmitted to the next joint space instruction to complete smooth transition of adjacent spaces; and when the previous command of the Cartesian space trajectory is the joint space trajectory, mapping the previous command to the joint space through Jacobian according to the initial velocity of the Cartesian space trajectory to serve as the final velocity of the joint space trajectory, and finishing smooth transition of adjacent spaces.
4. The method for spatial-cartesian spatial trajectory transition of adjacent joints according to claim 3, wherein the third step is preceded by: when the initial velocity of the joint space is unreasonable, multiplying the initial velocity vector of the Cartesian space track by a coefficient to ensure that the velocity direction is unchanged, only modifying the velocity, solving the corresponding final velocity of the joint space through a Jacobian matrix, inputting the final velocity of the joint space and returning the final velocity of the joint space which can be actually reached, judging the error of the final velocity of each joint space, when the error between the final velocity of each actually-reachable joint space and the input final velocity of the joint space is larger than a preset value, the joint space fails, continuing to perform iterative modification of the initial velocity of the Cartesian space track, modifying the coefficient to accumulate or reduce the coefficient, when the maximum modification times are exceeded and the failure is still returned, indicating that the initial velocity of the joint space cannot reach the velocity tangent to the Cartesian space, performing the same iterative modification on the initial velocity of the joint space, and if the return fails, indicating that the input data is unreasonable, and modifying the position data, wherein when the error is less than or equal to a preset value, the success is represented, and the modified joint space final speed is adopted as the joint space final speed to ensure that the joint space to Cartesian space speed is continuous.
5. An adjacent joint space-cartesian space trajectory transition device, comprising:
the time synchronization module is used for carrying out time synchronization on each shaft in adjacent space so that multi-shaft synchronization time reaches each position;
the track planning module is used for planning the track by taking the final speed of the current section of track as the initial speed of the next section of track and taking the initial speed of the current section of track as the final speed of the previous section of track so as to enable the adjacent space speeds to be in smooth transition;
the interpolation operation module is used for carrying out interpolation operation according to the output data of the track planning so as to ensure that the track is continuous; wherein the output data includes an initial velocity, a final velocity, and a position.
6. The device for spatial-cartesian spatial trajectory transition of adjacent joints according to claim 5, wherein the time synchronization module is further configured to: taking a Cartesian space as a reference space, adopting S-shaped speed planning based on speed to calculate position movement time and posture movement time, taking the maximum time of the two as reference time, and performing S-shaped speed planning based on the reference time when the time of the two is short to realize synchronization of posture and position time; the attitude is a quaternion including a starting point, an end point, a speed and an acceleration.
7. The device for spatial-cartesian spatial trajectory transition of adjacent joints according to claim 6, wherein the trajectory planning module is further configured to: when the previous instruction of the joint space track is a Cartesian space track, the terminal point and the terminal speed of the Cartesian space track are mapped to obtain the joint space starting point position and the initial speed corresponding to the Cartesian space track through Jacobian mapping, and the corresponding joint space starting point position and the initial speed are transmitted to the next joint space instruction to complete smooth transition of adjacent spaces; and when the previous command of the Cartesian space trajectory is the joint space trajectory, mapping the previous command to the joint space through Jacobian according to the initial velocity of the Cartesian space trajectory to serve as the final velocity of the joint space trajectory, and finishing smooth transition of adjacent spaces.
8. The joint space and cartesian space trajectory transition device according to claim 7, wherein executing the interpolation operation module further comprises: when the initial velocity of the joint space is unreasonable, multiplying the initial velocity vector of the Cartesian space track by a coefficient to ensure that the velocity direction is unchanged, only modifying the velocity, solving the corresponding final velocity of the joint space through a Jacobian matrix, inputting the final velocity of the joint space and returning the final velocity of the joint space which can be actually reached, judging the error of the final velocity of each joint space, when the error between the final velocity of each actually-reachable joint space and the input final velocity of the joint space is larger than a preset value, the joint space fails, continuing to perform iterative modification of the initial velocity of the Cartesian space track, modifying the coefficient to accumulate or reduce the coefficient, when the maximum modification times are exceeded and the failure is still returned, indicating that the initial velocity of the joint space cannot reach the velocity tangent to the Cartesian space, performing the same iterative modification on the initial velocity of the joint space, and if the return fails, indicating that the input data is unreasonable, and modifying the position data, wherein when the error is less than or equal to a preset value, the success is represented, and the modified joint space final speed is adopted as the joint space final speed to ensure that the joint space to Cartesian space speed is continuous.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011134624.4A CN112276949B (en) | 2020-10-21 | 2020-10-21 | Adjacent joint space-Cartesian space trajectory transition method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011134624.4A CN112276949B (en) | 2020-10-21 | 2020-10-21 | Adjacent joint space-Cartesian space trajectory transition method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112276949A true CN112276949A (en) | 2021-01-29 |
| CN112276949B CN112276949B (en) | 2022-03-11 |
Family
ID=74423492
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011134624.4A Active CN112276949B (en) | 2020-10-21 | 2020-10-21 | Adjacent joint space-Cartesian space trajectory transition method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112276949B (en) |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100241289A1 (en) * | 2006-06-22 | 2010-09-23 | Roy Sandberg | Method and apparatus for path planning, selection, and visualization |
| CN102141794A (en) * | 2011-02-25 | 2011-08-03 | 广西大学 | Continuous locus intersegment connecting speed processing method for numerical control system |
| CN103353737A (en) * | 2013-07-12 | 2013-10-16 | 北京配天大富精密机械有限公司 | Continuous processing method and apparatus of robot and smooth switching method and apparatus |
| CN105500354A (en) * | 2016-02-02 | 2016-04-20 | 南京埃斯顿机器人工程有限公司 | Transitional track planning method applied by industrial robot |
| CN105710881A (en) * | 2016-03-16 | 2016-06-29 | 杭州娃哈哈精密机械有限公司 | Continuous trajectory planning transition method for robot tail end |
| CN106695787A (en) * | 2016-12-17 | 2017-05-24 | 上海新时达电气股份有限公司 | Speed planning method |
| CN106945042A (en) * | 2017-03-29 | 2017-07-14 | 浙江工业大学 | A kind of discrete S types curve speed control method of manipulator |
| CN107030697A (en) * | 2017-04-28 | 2017-08-11 | 广州大学 | A kind of planing method of robot cartesian space smooth track |
| US9844872B1 (en) * | 2015-07-13 | 2017-12-19 | X Development Llc | Determining sensor parameters and model parameters of a robot |
| CN107571261A (en) * | 2017-08-30 | 2018-01-12 | 中国科学院自动化研究所 | The smooth transient method and device of the more space tracking planning of teaching robot |
| CN108890644A (en) * | 2018-06-27 | 2018-11-27 | 清华大学 | A kind of multi-axial Simultaneous method for planning track, system and computer readable storage medium |
| CN109623820A (en) * | 2018-12-25 | 2019-04-16 | 哈工大机器人（合肥）国际创新研究院 | A kind of robot space tracking transition method |
| CN109814496A (en) * | 2019-01-31 | 2019-05-28 | 天津大学 | Multiaxis method for synchronizing time in a kind of S type acceleration and deceleration trajectory planning |
| CN110625617A (en) * | 2019-10-21 | 2019-12-31 | 中冶赛迪工程技术股份有限公司 | Intelligent robot trajectory planning method |
| WO2020012902A1 (en) * | 2018-07-11 | 2020-01-16 | オムロン株式会社 | Control device and control method |
| CN111061213A (en) * | 2019-12-04 | 2020-04-24 | 天津大学 | Processing method based on Bezier curve corner smooth transition algorithm |
| CN111065494A (en) * | 2016-07-15 | 2020-04-24 | 快砖知识产权私人有限公司 | Robot base path planning |
| CN111604905A (en) * | 2020-05-26 | 2020-09-01 | 慧灵科技（深圳）有限公司 | Method, device and system for joint trajectory planning and storage medium |
-
2020
- 2020-10-21 CN CN202011134624.4A patent/CN112276949B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100241289A1 (en) * | 2006-06-22 | 2010-09-23 | Roy Sandberg | Method and apparatus for path planning, selection, and visualization |
| CN102141794A (en) * | 2011-02-25 | 2011-08-03 | 广西大学 | Continuous locus intersegment connecting speed processing method for numerical control system |
| CN103353737A (en) * | 2013-07-12 | 2013-10-16 | 北京配天大富精密机械有限公司 | Continuous processing method and apparatus of robot and smooth switching method and apparatus |
| US9844872B1 (en) * | 2015-07-13 | 2017-12-19 | X Development Llc | Determining sensor parameters and model parameters of a robot |
| CN105500354A (en) * | 2016-02-02 | 2016-04-20 | 南京埃斯顿机器人工程有限公司 | Transitional track planning method applied by industrial robot |
| CN105710881A (en) * | 2016-03-16 | 2016-06-29 | 杭州娃哈哈精密机械有限公司 | Continuous trajectory planning transition method for robot tail end |
| CN111065494A (en) * | 2016-07-15 | 2020-04-24 | 快砖知识产权私人有限公司 | Robot base path planning |
| CN106695787A (en) * | 2016-12-17 | 2017-05-24 | 上海新时达电气股份有限公司 | Speed planning method |
| CN106945042A (en) * | 2017-03-29 | 2017-07-14 | 浙江工业大学 | A kind of discrete S types curve speed control method of manipulator |
| CN107030697A (en) * | 2017-04-28 | 2017-08-11 | 广州大学 | A kind of planing method of robot cartesian space smooth track |
| CN107571261A (en) * | 2017-08-30 | 2018-01-12 | 中国科学院自动化研究所 | The smooth transient method and device of the more space tracking planning of teaching robot |
| CN108890644A (en) * | 2018-06-27 | 2018-11-27 | 清华大学 | A kind of multi-axial Simultaneous method for planning track, system and computer readable storage medium |
| WO2020012902A1 (en) * | 2018-07-11 | 2020-01-16 | オムロン株式会社 | Control device and control method |
| CN109623820A (en) * | 2018-12-25 | 2019-04-16 | 哈工大机器人（合肥）国际创新研究院 | A kind of robot space tracking transition method |
| CN109814496A (en) * | 2019-01-31 | 2019-05-28 | 天津大学 | Multiaxis method for synchronizing time in a kind of S type acceleration and deceleration trajectory planning |
| CN110625617A (en) * | 2019-10-21 | 2019-12-31 | 中冶赛迪工程技术股份有限公司 | Intelligent robot trajectory planning method |
| CN111061213A (en) * | 2019-12-04 | 2020-04-24 | 天津大学 | Processing method based on Bezier curve corner smooth transition algorithm |
| CN111604905A (en) * | 2020-05-26 | 2020-09-01 | 慧灵科技（深圳）有限公司 | Method, device and system for joint trajectory planning and storage medium |
Non-Patent Citations (3)
| Title |
|---|
| DIANSHENG CHEN;BENGUANG ZHANG;MIN WANG: "Cartesian space trajectory planning on 7-DOF manipulator", 《ROBOTICS AND BIOMIMETICS (ROBIO)》 * |
| 周乐天: "工业机器人轨迹规划及插补算法的研究", 《中国优秀硕士学位论文全文数据库 (信息科技辑)》 * |
| 郭霞; 刘鹏飞; 段晓妮: "工业机器人轨迹衔接方法研究", 《机床与液压》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112276949B (en) | 2022-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3566822B1 (en) | Robot joint space point-to-point movement trajectory planning method | |
| CN110497411B (en) | Industrial robot collaborative motion control method | |
| CN105500354B (en) | Transitional track planning method applied by industrial robot | |
| CN108568817B (en) | Delta robot track connection control method based on Bezier curve | |
| JP5426722B2 (en) | Robot program change device | |
| CN112223290A (en) | Joint space continuous point track transition method and device | |
| CN105183009B (en) | A kind of redundant mechanical arm method for controlling trajectory | |
| CN109605369B (en) | Mechanical arm singular point control method and system | |
| CN108406765B (en) | Impedance control method for open-chain multi-arm robot | |
| KR102033241B1 (en) | Device and method controlling a movement speed of robot | |
| CN112222703B (en) | Energy consumption optimal trajectory planning method for welding robot | |
| CN113189938A (en) | Speed curve planning method for continuous machining path | |
| CN112276949B (en) | Adjacent joint space-Cartesian space trajectory transition method and device | |
| CN112192575B (en) | Method and device for transition of space trajectories of adjacent joints | |
| CN102467109A (en) | Realization method for efficient and precise motion trajectory planning | |
| JP4412329B2 (en) | Robot control apparatus and robot position command value correction method | |
| JP3204042B2 (en) | Robot trajectory generator | |
| Wang et al. | Jerk-optimal trajectory planning for stewart platform in joint space | |
| CN110450170B (en) | Welding robot and swing track planning method thereof | |
| CN113608496A (en) | Spatial path G2Switching fairing method, equipment and computer readable storage medium | |
| CN112720502A (en) | Control method of single-multi-axis manipulator | |
| CN110465950B (en) | Welding robot and swing track planning method thereof | |
| CN108555903B (en) | Force control method for cleaning hydraulic mechanical arm | |
| CN117083157A (en) | Method for controlling displacement of robot | |
| CN105425640B (en) | A kind of layering void closed loop control method and system for turntable |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220916 Address after: 236000 room 304, building 3, Zone C, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei Hagong Tunan intelligent control robot Co.,Ltd. Address before: 236000 area C, intelligent equipment science and Technology Park, 3963 Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION |