CN113119111A - Mechanical arm and track planning method and device thereof - Google Patents
Mechanical arm and track planning method and device thereof Download PDFInfo
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- 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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The application belongs to the field of automation, and provides a mechanical arm and a method and a device for planning a track of the mechanical arm, wherein the method comprises the following steps: determining a motion path of the mechanical arm corresponding to the motion process of the mechanical arm and joint angles corresponding to each path point; determining a target function according to the motion path, and determining the maximum speed and the maximum acceleration of the joint, wherein the maximum speed and the maximum acceleration are feasible by combining the joint speed and the joint moment limiting conditions of the mechanical arm and the joint angle corresponding to the path point; and planning the track of the mechanical arm according to the determined maximum speed and maximum acceleration, so that the joint movement speed is improved on the premise of meeting the movement limit of the mechanical arm joint, and the operation efficiency of the mechanical arm is improved.
Description
Technical Field
The application belongs to the field of automation, and particularly relates to a mechanical arm and a track planning method and device thereof.
Background
In the trajectory planning of a multi-axis mechanical arm, in order to ensure the stability of the whole motion, an S-shaped speed planning method is generally adopted. The S-shaped planning method divides the whole motion process into 7 stages, which are sequentially as follows: acceleration motion with increased acceleration, uniform acceleration motion, acceleration motion with decreased acceleration, uniform motion, deceleration motion with increased acceleration, uniform deceleration motion, and deceleration motion with decreased acceleration. The movement speed planning method fully considers the acceleration and deceleration process of the joint movement, is favorable for ensuring the stability of the whole movement process and is widely adopted.
However, this trajectory planning method requires setting the maximum speed and the maximum acceleration to be expected, so as to calculate the movement time of each phase. Due to the lack of parameters, it is currently generally determined empirically or by intuitive feel. If the setting is inaccurate, the movement limit of the robot arm is easily exceeded, or the operation speed of the robot arm is affected.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for planning a trajectory of a robot arm, so as to solve the problem in the prior art that the trajectory of the robot arm is likely to exceed a motion limit of the robot arm or affect an operation speed of the robot arm.
A first aspect of an embodiment of the present application provides a method for planning a trajectory of a robot arm, where the method includes:
determining a motion path of the mechanical arm corresponding to the motion process of the mechanical arm and joint angles corresponding to each path point;
determining a target function according to the motion path of the mechanical arm, and determining the feasible maximum speed and maximum acceleration of the joint by combining the joint speed and joint moment limiting conditions of the mechanical arm and the joint angle corresponding to the path point;
and planning the track of the mechanical arm according to the determined maximum speed and maximum acceleration.
With reference to the first aspect, in a first possible implementation manner of the first aspect, determining a motion path of the mechanical arm corresponding to a motion process of the mechanical arm includes:
and determining scalar parameters describing the motion path in the motion process of the mechanical arm, and establishing a corresponding relation between the scalar parameters and the mechanical contraception motion path.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, after establishing the correspondence between the scalar parameter and the mechanical contraceptive movement path, the method further includes:
and normalizing the value of the scalar parameter corresponding to the motion path.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, after the value normalization processing of the scalar parameter, the starting point of the motion path corresponds to a value 0 in the scalar parameter, and the ending point of the motion path corresponds to a value 1 in the scalar parameter.
With reference to the first aspect, in a fourth possible implementation manner of the first aspect, determining an objective function according to a motion path of the mechanical arm, and determining a maximum speed and a maximum acceleration of the joint, which are feasible, with reference to joint speed and joint torque limiting conditions of the mechanical arm and a joint angle corresponding to a path point, includes:
According to the joint speed and the joint moment limiting conditions:
determining the objective function with the shortest time:
determining a maximum velocity and a maximum acceleration of the joint that are feasible, wherein,
and
respectively representing the minimum and maximum speeds allowed for the joints of the robot arm, tauminAnd τmaxThe minimum torque and the maximum torque of the mechanical arm energy-saving output are shown,
representing the joint velocity represented by a scalar parameter s and a first derivative of the scalar parameter s,
represents the joint moment represented by the scalar parameter s and its first, second derivative, t0 is the motion start time, te is the motion end time.
With reference to the first aspect, in a fifth possible implementation manner of the first aspect, performing trajectory planning on the mechanical arm according to the determined maximum speed and maximum acceleration includes:
and taking the maximum acceleration as the acceleration of a uniform acceleration motion stage and a uniform deceleration stage in the S-shaped track planning, taking the maximum speed as the motion speed of a uniform motion stage in the S-shaped track planning, and carrying out track planning on the mechanical arm.
With reference to the first aspect, the first possible implementation manner of the first aspect, the second possible implementation manner of the first aspect, the third possible implementation manner of the first aspect, the fourth possible implementation manner of the first aspect, or the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the motion path includes a motion path of each joint of the robot arm, and when a maximum speed and a maximum acceleration that are possible for the joint are determined, a maximum speed and a maximum acceleration that correspond to each joint are determined, respectively.
A second aspect of an embodiment of the present application provides a trajectory planning apparatus for a robot arm, the apparatus including:
the joint data determining unit is used for determining a motion path of the mechanical arm corresponding to the motion process of the mechanical arm and joint angles corresponding to each path point;
the data calculation unit is used for determining a target function according to the motion path of the mechanical arm, and determining the maximum speed and the maximum acceleration of the joint, wherein the maximum speed and the maximum acceleration are feasible by combining the joint speed and the joint moment limiting conditions of the mechanical arm and the joint angle corresponding to the path point;
and the track planning unit is used for planning the track of the mechanical arm according to the determined maximum speed and maximum acceleration.
A third aspect of embodiments of the present application provides a robot arm, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to any one of the first aspect when executing the computer program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, performs the steps of the method according to any one of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that: the method and the device determine the target function by determining the motion path of the joint of the mechanical arm in the motion process, determine the maximum speed and the maximum acceleration of the joint by combining the preset limiting conditions of the mechanical arm and the joint angle corresponding to the path point according to the target function, plan and control the track of the mechanical arm according to the determined maximum speed and the determined maximum acceleration, thereby improving the motion speed of the joint on the premise that the joint meets the motion limit of the joint of the mechanical arm, and being beneficial to improving the operation efficiency of the mechanical arm.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic representation of a sigmoidal velocity profile;
fig. 2 is a schematic flow chart of an implementation of a method for planning a trajectory of a robot provided in an embodiment of the present application;
Fig. 3 is a schematic diagram of a trajectory planning apparatus of a robot provided in an embodiment of the present application;
FIG. 4 is a schematic view of a robotic arm provided in embodiments of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
At present, an S-shaped speed planning method is generally adopted in trajectory planning control of a mechanical arm. In the schematic diagram of the S-shaped velocity profile shown in fig. 1, the whole motion process can be roughly divided into 7 stages, which are: 1. an acceleration motion stage with increased acceleration, a 2 uniform acceleration motion stage, a 3 acceleration motion stage with decreased acceleration, a 4 uniform velocity motion stage, a 5 deceleration motion stage with increased acceleration, a 6 uniform deceleration motion stage, a 7 deceleration motion stage with decreased acceleration. The trajectory planning method fully considers the acceleration and deceleration process of the joint movement, effectively improves the stability of the movement process, and is widely applied to the field of trajectory planning.
When the mechanical arm adopts the S-shaped velocity planning curve to plan the trajectory, the maximum velocity and the maximum acceleration expected by the current motion need to be set, so as to calculate each phase time in the S-shaped velocity planning curve. Currently, the maximum velocity and the maximum acceleration are generally determined empirically or by means of intuitive feel. If the set maximum acceleration or maximum velocity is too high, the motion limits of the robotic arm may be exceeded and the motion may not be achieved. If the set maximum acceleration or maximum speed is too small, the performance of the mechanical arm is not favorably exerted, and the operation efficiency of the mechanical arm is influenced.
In order to solve the above problems, an embodiment of the present application provides a method for planning a trajectory of a mechanical arm, where when planning a trajectory of a mechanical arm, a maximum speed and a maximum acceleration of a joint are determined according to a motion path of the mechanical arm and a joint angle corresponding to a path point of the motion path, in combination with a constraint condition of the joint, and the trajectory of the joint is planned according to the determined maximum speed and maximum acceleration, so as to avoid the problems that the trajectory planning cannot be completed, or it is not beneficial to fully exerting the performance of the mechanical arm, and the operation efficiency of the mechanical arm is not high.
Fig. 2 is a schematic flow chart of an implementation of the method for planning a trajectory of a robot arm according to the embodiment of the present application, which is detailed as follows:
in S201, a motion path of the robot arm corresponding to the motion process of the robot arm and a joint angle corresponding to each path point are determined.
Specifically, the mechanical arm in the embodiment of the present application may be a mechanical arm of a robot, or may be a mechanical arm of other automation equipment. The trajectory planning of the mechanical arm can be completed by a control module unit in the mechanical arm, or trajectory planning data of other control centers can be received, and the trajectory planning data is executed by the mechanical arm.
The mechanical arm can be a single-joint mechanical arm or a multi-joint mechanical arm. When the mechanical arm is a multi-joint mechanical arm, the motion track corresponding to each joint in the mechanical arm can be determined according to the motion path of the mechanical arm.
In a possible implementation manner, when determining the operation motion of the mechanical arm to perform the motion planning, for the same operation motion, multiple motion paths may be included, and for each motion path, the motion paths of multiple joints correspond.
When determining the motion path of the robot arm, a correspondence between the motion path of the robot arm and a scalar parameter may be established. That is, for each waypoint in the path of motion of the robotic arm, a scalar parameter may be employed to represent the waypoint. Therefore, each path point in the motion path can be described through the scalar parameter, and the path points can be conveniently identified and processed.
Wherein the scalar parameter may also be referred to as a vector-free parameter.
For example, a waypoint in the motion path may be represented by a scalar parameter s. And analyzing the path points in the motion path to obtain the joint angles corresponding to the path points. For example, the correspondence between the joint angle and the scalar parameter of the path point of the joint can be expressed by the formula q ═ f(s). Where q represents the joint angle corresponding to the scalar parameter s of the joint.
In a possible implementation manner, the scalar parameter for identifying the path point may be normalized, so that the path points of different motion paths, including the path points of the motion paths of different joints and the path points of the motion paths of the joints of different motion actions, may be expressed by the normalized parameter.
After the scalar parameter is normalized, the normalized scalar parameter value corresponding to each path point can be obtained. For example, the scalar parameter value corresponding to the route point at the start position may be set to 0, and the scalar parameter value corresponding to the route point at the end position may be set to 1. Of course, without being limited thereto, the scalar parameter value corresponding to the start position may be set to 1, and the scalar parameter value at the end position may be set to 0.
In S202, an objective function is determined according to the motion path of the mechanical arm, and the maximum speed and the maximum acceleration of the joint that are feasible are determined in combination with the joint speed and the joint torque limiting condition of the mechanical arm itself and the joint angle corresponding to the path point.
After the motion path is determined, an objective function for determining the maximum acceleration and the maximum velocity may be determined according to scalar parameters corresponding to the path points in the motion path. Wherein, the objective function may be:
In a determined objective functionAfter counting, predetermined limiting conditions are combined, including joint speed limiting conditions, joint torque limiting conditions and the like. For example, the constraint may be expressed as:
wherein,
and
respectively representing the minimum and maximum speeds allowed for the joints of the robot arm, tauminAnd τmaxThe minimum torque and the maximum torque of the mechanical arm energy-saving output are shown,
representing the joint velocity represented by a scalar parameter s and a first derivative of the scalar parameter s, 
Representing the joint moment represented by the scalar parameter s and its first, second derivative.
The representation forms of the joint speed and the joint moment can be determined according to different models.
For example, the kinetic model of the robot can be expressed as:
wherein H (q) represents an inertia matrix of the robot,
representing the Coriolis effect, g (q) representing the gravitational term, τ representing the joint moment,
respectively representing the position, velocity and acceleration of each joint of the robot.
The pose of the robot tip in task space can be represented by a vector p. It is known that any point p on the motion path can be represented by a scalar displacement s along the path, and also from the positive kinematics of the robot and the joint position q, so this is expressed as follows:
p(s)＝r(q) (1)
where r (q) represents the positive kinematic equation for the robot. The formula (1) differentiates time once and twice respectively,
where the indices s and q represent the first and second derivatives of a scalar s and a vector q, respectively, rqJacobian matrix, r, which can be regarded as a robotqqCan be seen as a sea plug matrix of the vector function r.
The equations (1) to (3) are substituted into the kinetic equation of the robot, and the kinetic equation can be calculated
Wherein a(s) ═ H(s) rq -1ps，
c(s)＝g(s)。
According to the target function, the limiting condition and the corresponding relation between the path point and the joint angle, the maximum speed and the maximum acceleration corresponding to the motion path can be obtained through a numerical integration method.
In S203, a trajectory of the mechanical arm is planned according to the determined maximum speed and maximum acceleration.
After the maximum speed and the maximum acceleration of the joint are determined according to the S202, the maximum acceleration is used as the acceleration in the uniform acceleration stage and the uniform deceleration stage in the S-shaped track rule in the S-shaped track planning, speed conversion control is performed, and the maximum speed is used as the speed in the uniform speed stage to perform track planning, so that the joint can be in the motion stage of the maximum speed in the longest time period as possible, the operation efficiency of the mechanical arm is improved, and the motion limit of the mechanical arm cannot be exceeded.
In the embodiment of the application, if the mechanical arm includes a plurality of joints, the motion path of each joint may be determined respectively, the maximum acceleration and the maximum velocity corresponding to each joint are determined respectively according to the motion path of each joint, and the trajectory planning is performed on each joint respectively according to the determined maximum velocity and the determined maximum acceleration of each joint.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 3 is a trajectory planning apparatus for a robot provided in an embodiment of the present application, where the apparatus includes:
the joint data determining unit 301 is configured to determine a motion path of the mechanical arm corresponding to a motion process of the mechanical arm and a joint angle corresponding to each path point;
the data calculation unit 302 is configured to determine an objective function according to a motion path of the mechanical arm, and determine a maximum speed and a maximum acceleration of the joint, where the maximum speed and the maximum acceleration are feasible, by combining joint speed and joint torque limiting conditions of the mechanical arm and a joint angle corresponding to a path point;
and a trajectory planning unit 303, configured to plan a trajectory of the mechanical arm according to the determined maximum speed and maximum acceleration.
The trajectory planning device of the robot arm shown in fig. 3 corresponds to the trajectory planning method of the robot arm shown in fig. 2.
FIG. 4 is a schematic view of a robotic arm provided in accordance with an embodiment of the present application. As shown in fig. 4, the robot arm 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42 stored in said memory 41 and executable on said processor 40, such as a trajectory planning program for a robot arm. The processor 40, when executing the computer program 42, implements the steps in the above-described embodiments of the method for trajectory planning for each robotic arm. Alternatively, the processor 40 implements the functions of the modules/units in the above-described device embodiments when executing the computer program 42.
Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the robot arm 4. For example, the computer program 42 may be divided into:
the robotic arm may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that figure 4 is merely an example of a robot arm 4 and does not constitute a limitation of the robot arm 4 and may include more or fewer components than shown, or some components in combination, or different components, for example the robot arm may also include input output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the robot 4, such as a hard disk or memory of the robot 4. The memory 41 may also be an external storage device of the robot arm 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the robot arm 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the robot arm 4. The memory 41 is used for storing the computer program and other programs and data required by the robot arm. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the methods described above can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A trajectory planning method for a robot arm, the method comprising:
determining a motion path of the mechanical arm corresponding to the motion process of the mechanical arm and joint angles corresponding to each path point;
determining a target function according to the motion path of the mechanical arm, and determining the feasible maximum speed and maximum acceleration of the joint by combining the joint speed and joint moment limiting conditions of the mechanical arm and the joint angle corresponding to the path point;
and planning the track of the mechanical arm according to the determined maximum speed and maximum acceleration.
2. The method of claim 1, wherein determining the motion path of the robot arm corresponding to the robot arm motion process comprises:
And determining scalar parameters describing the motion path in the motion process of the mechanical arm, and establishing the corresponding relation between the scalar parameters and the motion path of the mechanical arm.
3. The method of claim 2, wherein after establishing the correspondence of the scalar parameter to the path of robot arm motion, the method further comprises:
and normalizing the value of the scalar parameter corresponding to the motion path.
4. The method according to claim 3, wherein after the value normalization processing of the scalar parameter, the start point of the motion path corresponds to 0 value of the scalar parameter, and the end point of the motion path corresponds to 1 value of the scalar parameter.
5. The method of claim 1, wherein determining an objective function according to the motion path of the mechanical arm, and determining the maximum speed and the maximum acceleration of the joint, which are feasible, by combining joint speed and joint moment limiting conditions of the mechanical arm, comprises:
according to the joint speed and the joint moment limiting conditions:
determining the objective function with the shortest time:
determining a maximum velocity and a maximum acceleration of the joint that are feasible, wherein,
and
respectively representing the minimum and maximum speeds allowed for the joints of the robot arm, tau minAnd τmaxThe minimum torque and the maximum torque of the mechanical arm energy-saving output are shown,
representing the joint velocity represented by a scalar parameter s and a first derivative of the scalar parameter s,
represents the joint moment represented by the scalar parameter s and its first, second derivative, t0 is the motion start time, te is the motion end time.
6. The method of claim 1, wherein trajectory planning the robotic arm based on the determined maximum feasible velocity and maximum acceleration comprises:
and taking the maximum acceleration as the acceleration of a uniform acceleration motion stage and a uniform deceleration stage in the S-shaped track planning, taking the maximum speed as the motion speed of a uniform motion stage in the S-shaped track planning, and carrying out track planning on the mechanical arm.
7. The method according to any of claims 1-6, wherein the motion path comprises a motion path of each joint of a robotic arm, and when determining the maximum velocity and maximum acceleration possible for the joint, the maximum velocity and maximum acceleration corresponding to each joint are determined separately.
8. An apparatus for planning a trajectory of a robot arm, the apparatus comprising:
The joint data determining unit is used for determining a motion path of the mechanical arm corresponding to the motion process of the mechanical arm and joint angles corresponding to each path point;
the data calculation unit is used for determining a target function according to the motion path of the mechanical arm, and determining the maximum speed and the maximum acceleration of the joint which are feasible by combining the joint speed and the joint moment limiting conditions of the mechanical arm and the joint angle corresponding to the path point;
and the track planning unit is used for planning the track of the mechanical arm according to the determined maximum speed and maximum acceleration.
9. A robot arm comprising a memory, a processor and a computer program stored in said memory and executable on said processor, wherein said processor implements the steps of the method according to any of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110291094.2A CN113119111A (en) | 2021-03-18 | 2021-03-18 | Mechanical arm and track planning method and device thereof |
| PCT/CN2021/124616 WO2022193639A1 (en) | 2021-03-18 | 2021-10-19 | Mechanical arm, and trajectory planning method and apparatus therefor |
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| CN202110291094.2A CN113119111A (en) | 2021-03-18 | 2021-03-18 | Mechanical arm and track planning method and device thereof |
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Cited By (4)
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| CN113787525A (en) * | 2021-11-18 | 2021-12-14 | 季华实验室 | Mechanical arm movement time optimization method based on joint performance limitation |
| CN113967917A (en) * | 2021-11-24 | 2022-01-25 | 伯朗特机器人股份有限公司 | Mechanical arm multi-joint track time synchronization method, system and storage medium |
| WO2022193639A1 (en) * | 2021-03-18 | 2022-09-22 | 深圳市优必选科技股份有限公司 | Mechanical arm, and trajectory planning method and apparatus therefor |
| CN116197917A (en) * | 2023-04-28 | 2023-06-02 | 苏州艾利特机器人有限公司 | Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment |
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| CN116197917A (en) * | 2023-04-28 | 2023-06-02 | 苏州艾利特机器人有限公司 | Self-adaptive maximum acceleration calculation method and device, storage medium and electronic equipment |
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| WO2022193639A1 (en) | 2022-09-22 |
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