CN114690767A - Robot trajectory planning method and system and robot - Google Patents
Robot trajectory planning method and system and robot Download PDFInfo
- Publication number
- CN114690767A CN114690767A CN202210204840.4A CN202210204840A CN114690767A CN 114690767 A CN114690767 A CN 114690767A CN 202210204840 A CN202210204840 A CN 202210204840A CN 114690767 A CN114690767 A CN 114690767A
- Authority
- CN
- China
- Prior art keywords
- speed
- planning
- look
- path
- ahead
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000001133 acceleration Effects 0.000 claims abstract description 51
- 230000011218 segmentation Effects 0.000 claims abstract description 12
- 238000004590 computer program Methods 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 2
- 230000036461 convulsion Effects 0.000 description 10
- 238000004422 calculation algorithm Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a robot track planning method and a system, wherein the method comprises the following steps: setting a speed look-ahead plan to perform high-order continuous segmentation on the path, and correcting the path parameters of the current interpolation period through the speed look-ahead plan before the path parameters are sent to the servo; the speed look-ahead planning comprises: acquiring the current speed, the acceleration, the maximum acceleration and the maximum look-ahead speed, calculating the look-ahead distance from the robot to zero when the robot is decelerated in a non-uniform-speed section by using a set speed curve, and planning the speed according to the look-ahead distance; and comparing the speed plan with the parameter-speed constraint curve, judging whether the speed plan has an overrun position, and issuing the path parameter to a servo when the overrun position does not exist. The robot track planning method and the system of the invention fully utilize the speed-limiting curve, complete the whole path planning at high speed, and the path segmented real-time prospective speed curve is high-order continuous, so that the final path curve also meets the requirement of high-order continuous effective control on jitter.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a robot trajectory planning method and system and a robot.
Background
In the prior art, a motion controller of a robot obtains position, speed and acceleration data of the robot/a servo motor through continuous interpolation operation, and transmits the position, speed and acceleration data to a servo driver to realize motor operation and robot motion. The speed of the robot is planned and interpolated, so that the robot can be stably started and stopped, and the acceleration and deceleration time can be saved. With the development of the robot technology, higher requirements are put on the performance of the robot. High speed, high precision and high stability are important indexes of industrial robots.
In order to improve the speed, the precision and the stability of the robot, one of the methods is an optimal planning algorithm based on path-speed decoupling, and the algorithm uses a dynamic planning or convex optimization method to realize the time optimal, energy optimal and other trajectory planning under various constraints. However, the algorithm is difficult to achieve the bounded acceleration, so that the problem of jitter is difficult to solve, and the adoption of the method of filtering and vibration suppression may bring about the problems that the constraint cannot be guaranteed and the precision is reduced.
In addition, the problems of complex calculation and track real-time splicing of the optimal planning algorithm based on path-speed decoupling cause great difficulty in actual landing.
Disclosure of Invention
Based on the above, in order to solve the technical problems in the prior art, the invention provides a robot trajectory planning method and system based on a segmented look-ahead design, wherein the path planning is completed by fully utilizing the high speed of a speed limit curve, the speed planning adopts a known high-order continuous speed curve, the jerk constraint is effectively controlled, and the shake caused by the overlarge jerk is avoided.
In a first aspect, the present embodiment provides a robot trajectory planning method, including the following steps:
representing the path (p (s)) in a path parameter form, discretizing the path, calculating the speed limit at each discrete point, and fitting a parameter-speed constraint curve according to joint speed constraint;
setting a speed look-ahead plan to perform high-order continuous segmentation on the path, and correcting the path parameters of the current interpolation period through the speed look-ahead plan before the path parameters are sent to the servo;
the speed look-ahead planning comprises:
step S1: obtaining a current speed (V)current) Acceleration (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) Calculating the foresight distance of the robot when the robot is decelerated to zero in the non-uniform-speed section by using a set speed curve, and planning the speed according to the foresight distance;
step S2: and comparing the speed plan with the parameter-speed constraint curve, judging whether the speed plan has an overrun position, and issuing the path parameter to a servo to control the robot to move when the overrun position does not exist.
In a second aspect, an embodiment of the present application provides a robot trajectory planning system, including a trajectory interpolation module, where the trajectory interpolation module includes a look-ahead planning module and an interpolation module, the look-ahead planning module includes a speed planning module and a comparison and determination module,
the look-ahead planning module is used for performing high-order continuous segmentation on the path and correcting the path parameter of the interpolation period before issuing a servo;
the speed planning module is used for acquiring the current speed (V)current) Acceleration (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) Calculating the foresight distance of the robot when the robot is decelerated to zero in the non-uniform-speed section by using a set speed curve, and planning the speed according to the foresight distance;
the comparison and judgment module is used for comparing the speed plan with the parameter-speed constraint curve and judging whether the speed plan has an overrun position;
the interpolation module is used for sending the path parameter to a servo when the overrun position does not exist so as to control the robot to move.
In a third aspect, the present application provides an industrial robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method provided in the first aspect when executing the computer program.
In a fourth aspect, embodiments of the present application provide a robot computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, where the computer program is operable to cause a computer to perform some or all of the steps described in the method according to the first aspect of the embodiments of the present application. The computer program product may be a software installation package.
The robot trajectory planning method and the robot trajectory planning system provided by the embodiment of the application provide real-time high-speed planning under constraint through the idea of sectional forward-looking. The speed planning adopts a known high-order continuous speed curve, so that the jerk constraint can be effectively controlled, and the jitter caused by overlarge jerk is avoided.
Meanwhile, the robot track planning method and the robot track planning system have the advantages that the calculated amount of speed forward-looking planning is small, the speed forward-looking planning can be executed in real time along with path interpolation, a multi-thread synchronous planning mode is not needed, and various abnormal problems caused by waiting among multiple threads are avoided.
According to the robot trajectory planning method and system, on the premise that path planning is determined, constraint conditions such as various moments and speeds are met, smooth high-order trajectory planning is completed as fast as possible, and the method and system are one of important core technologies for ensuring high performance of the robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
fig. 1 is a schematic diagram of a hardware configuration of a robot trajectory planning system according to the present embodiment;
fig. 2 is a schematic main flow chart of the robot trajectory planning method according to the embodiment;
fig. 3 is a flow chart of path initialization of the robot trajectory planning method according to the embodiment;
fig. 4 is a detailed flowchart of the robot trajectory planning method according to the embodiment;
fig. 5 is a schematic structural diagram of software modules of the robot trajectory planning system according to the embodiment;
fig. 6 is a schematic diagram of a hardware structure of a control part of the robot trajectory planning system of the present embodiment;
fig. 7 is an algorithm planning speed look-ahead graph of the robot trajectory planning method of the present embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
The terms "including" and "having," and any variations thereof, in the description and claims of this application and the drawings described above, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The robot path planning system of the embodiment is a software module, and is installed on a control terminal of an industrial robot, such as a connected server or a computer.
Referring to fig. 1, an industrial robot is shown comprising a manipulator 11 with multi-axis motion in a first three-dimensional coordinate system and a manipulator arm 12 with multi-axis motion in a second three-dimensional coordinate system. The three-dimensional coordinate system includes an X-axis, a Y-axis and a Z-axis. The second coordinate system includes an a-axis, a b-axis, and a c-axis. The control part of the robot manipulator 11 and arm 12 are connected to a control terminal 13. The control terminal comprises a display 14 and a communication module 15. The control terminal is also connected to a teach pendant 17 to obtain the path entered by the user through the teach pendant or otherwise.
Referring to fig. 5, the robot trajectory planning system of the present embodiment includes a path initialization module 20 and a trajectory interpolation module 30. The path initialization module 20 is configured to obtain a path, set a speed curve, fit a parameter-speed constraint curve, calculate a maximum acceleration, and perform parameter assignment when first look-ahead planning is completed. The track interpolation module 30 performs position overrun determination before the interpolation parameter issues a servo, and completes determination of a new interpolation distance before a new segment speed is planned.
The path initialization module 20 includes a path module 21, a maximum acceleration module 22, a curve fitting module 23, and an assignment module 24.
The trajectory interpolation module 30 includes a look-ahead planning module 31, a loop determination module 32, an interpolation distance determination module 33, and an interpolation module 34. The look-ahead planning module 31 includes a speed planning module 41 and a comparison and judgment module 42. The interpolation distance determination module 33 includes an update module 51, a second determination module 52, and a segmentation module 53.
The robot trajectory planning system of the embodiment sets a speed look-ahead plan to perform high-order continuous segmentation on the path, and provides real-time high-speed planning under constraint. The speed planning adopts a known high-order continuous speed curve, such as an S-type speed curve or a Sin-type speed curve, so that the jerk constraint can be effectively controlled, and the jitter caused by overlarge jerk is avoided.
The function of the path initialization module 20 of the robot trajectory planning system of the present embodiment is described below.
The path module 21 obtains the path (p (s)). S in the path p(s) represents a path parameter, and the position information can be obtained according to s.
The maximum acceleration module obtains a given jerk time (t2), and obtains a maximum acceleration under torque constraints based on the jerk time and the set speed profile. The acceleration time (t2) may be specified by the user, or may be set by actual measurement, defaults to 0.1 second, and the acceleration time (t2) is used as a parameter of the set speed curve to participate in the calculation of the maximum acceleration. In this embodiment, the set speed profile is an S-type speed profile or a Sin-type speed profile.
The curve fitting module 23 discretizes the path, parameterizes the path p(s), and obtains the position information and the speed limit information at the discrete point s after discretization. The curve fitting module 23 calculates the velocity constraint at each discrete point and fits the parameter-velocity constraint curve according to the joint velocity constraint. The corresponding speed constraint VLimit at a series of positions s can be obtained in the path planning, and then the obtained speed constraint VLimit can be used for real-time interpolation.
The assignment module 24 initializes the parameters of the look-ahead planning, the look-ahead distance being zero at first planning, the current velocity (V)current) And acceleration (A)current) Zero, first look-ahead maximum speed (V)max) Taken one-half of the speed limit from the first discrete point. In this embodiment, the look-ahead distance of 0 indicates that real-time look-ahead planning will be performed once in the first period, and the look-ahead distance is a condition for determining whether real-time planning is performed once.
The function of the trajectory interpolation module 30 of the robot trajectory planning system of the present embodiment is described as follows.
The look-ahead planning module 31 is configured to perform high-order continuous segmentation on the path and correct the path parameters of the interpolation period before issuing a servo. The path parameters issued to the servo robots comprise joint positions.
The speed planning module 41 obtains a current speed (Vcurrent), an acceleration (Acurrent), a maximum acceleration and a look-ahead maximum speed (Vmax), calculates a look-ahead distance from the robot to zero when the robot is decelerated in a non-uniform speed section by setting a speed curve, and plans the speed according to the look-ahead distance;
the comparison and determination module 42 compares the speed plan with the parameter-speed constraint curve to determine whether the speed plan has an overrun position.
The interpolation module 34 sends the path parameter to the servo to control the robot to move when there is no overrun position. In this embodiment, the speed planning of the robot is to calculate and correct and determine the joint position of the current interpolation period, perform robot interpolation according to the joint position, and send the robot interpolation to the servo.
The cyclic determination module 32 is used for adjusting the look-ahead maximum speed (V) when the overrun position existsmax) And returning to the step of circulating the speed look-ahead planning, and recalculating, comparing and judging the speed planning.
And when the overrun position does not exist, judging the interpolation distance of the new look-ahead plan. The update module 51 updates the look-ahead distance to the distance of the ramp-up to the speed plan when there is no overrun location.
The second determining module 52 determines whether the current planning distance of the path is greater than the look-ahead distance.
The segmentation module 53 resumes the current interpolated current speed (V) when the planned distance is greater than the look-ahead distancecurrent) Acceleration (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) A new segment speed plan is made.
When the planning distance is smaller than the look-ahead distance, the interpolation module 34 finishes planning the remaining path, performs real-time interpolation, and generates interpolation points until the path is completely finished.
Method embodiment
Referring to fig. 2 and fig. 3, a main flowchart of the robot trajectory planning method of the present embodiment is shown.
Fig. 3 shows a path initialization step, in which a speed curve, a parameter-speed constraint curve and a start parameter need to be determined when a path is first segmented and subjected to a look-ahead planning. The path initialization step includes:
step 101: the acquisition path (p (s)).
Step 102: obtaining a given acceleration time (t)2) Calculating the maximum acceleration under the moment constraint according to the acceleration time and a set speed curve; the set speed profile is an S-type speed profile or a Sin-type speed profile.
Step 103: the path (p (s)) is represented in the form of path parameters, the path is discretized, velocity constraints at discrete points are calculated, and the parameter-velocity constraint curve is fitted according to the joint velocity constraints.
The set speed curve is an S-type speed curve or a Sin-type speed curve;
the parameter-speed constraint curve calculation formula is as follows:
where V is the maximum Cartesian velocity constraint, θmaxFor each joint maximum velocity, J (θ) is the Jacobian matrix at the discrete point and vector is the first derivative of the path at the discrete point.
Step 104: initializing the parameters of the look-ahead planning, the look-ahead distance being zero when planning for the first time, the current speed (V)current) And acceleration (A)current) Zero, first look-ahead maximum speed (V)max) Taken one-half of the speed limit from the first discrete point.
The following steps 105 and 106 are part of the overall independent scheme, and the actual flow proceeds from step 104 directly to step S1, and is in contact with the loop point.
Step 105: the path (p (s)) is represented in the form of path parameters, discretized, the speed limit at each discrete point is calculated, and a parameter-velocity constraint curve is fitted according to the joint velocity constraints.
Step 106: and setting a speed look-ahead plan to perform high-order continuous segmentation on the path, and correcting the path parameters of the current interpolation period through the speed look-ahead plan before the path parameters are sent to the servo.
The speed look-ahead planning comprises:
step S1: obtaining a current speed (V)current) Acceleration (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) And calculating the foresight distance of the robot when the robot is decelerated to zero in the non-uniform-speed section by using the set speed curve, and planning the speed according to the foresight distance.
Step S2: and comparing the speed plan with the parameter-speed constraint curve, judging whether the speed plan has an overrun position, and issuing the path parameter to a servo to control the robot to move when the overrun position does not exist.
Step S2 may also be subdivided into step S21, step S22, and step S23.
Step S21: the speed plan is compared to the parameter-speed constraint curve.
Step S22: and judging whether the speed plan has an overrun position.
Step S23: and when the position exceeding the limit does not exist, the path parameters are sent to a servo so as to control the robot to move.
Step S11: reducing the look-ahead maximum speed (V)max) And returning to the loop step S1 to recalculate and compare the judgment speed plan.
When the overrun position does not exist, the path parameter is issued to the servo, and the interpolation distance judgment of new prospective planning is carried out, and the method comprises the following steps:
step S31: and updating the look-ahead distance to be the distance from the speed planning acceleration to the uniform acceleration section.
Step S32: and judging whether the current planning distance of the path is greater than the look-ahead distance.
Step S33: when the planning distance is larger than the look-ahead distance, the current speed (V) of the current interpolation is used againcurrent) AddingSpeed (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) A new segment speed plan is made.
Step S33: and when the planning distance is smaller than the look-ahead distance, performing real-time interpolation to generate interpolation points until the path is completely finished.
When the path is segmented, the overrun position judgment is met, and the interpolation distance judgment is met, the set speed curve is abandoned after the path which is not executed in the curve planning meeting the overrun position judgment is abandoned, and a new prospective plan is restarted after the interpolation distance judgment is met.
Referring to fig. 7, a diagram of an algorithm planning speed look-ahead curve of a robot trajectory planning method is shown. The abscissa is the number of interpolation periods, and the ordinate is the cartesian velocity.
Curve B represents the speed constraint curve each time a look-ahead speed planning is performed. In the actual planning process, the speed constraint curve is performed based on the path parameter s.
Curve a represents a speed look-ahead curve performed in segments. The asterisk mark of curve a and the curve boundary, i.e. the look-ahead distance, represents the location point where a new look-ahead speed planning is performed.
The robot trajectory planning method of the embodiment makes full use of the speed limit curve to complete the whole path planning as fast as possible. And the speed curve for segmented real-time look-ahead is high-order continuous, so the final curve also meets high-order continuous, the jerk constraint can be effectively controlled, the jitter caused by overlarge jerk is avoided, and meanwhile, the smaller calculated amount is ensured.
Referring to fig. 6, in another embodiment of the present invention, a robot trajectory planning system is provided, which includes a memory 602, a processor 601 and a computer program 604 stored on the memory 602 and capable of running on the processor 601, the processor 601 is connected to a communication module 605, and the processor 601 implements a robot trajectory planning method when executing the program.
The terminal for installing the robot trajectory planning software can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The communication information protection device/terminal equipment may include, but is not limited to, a processor, a memory. It will be understood by those skilled in the art that the schematic diagram is merely an example of a communication information protection apparatus/terminal device, and does not constitute a limitation of the communication information protection apparatus/terminal device, and may include more or less components than those shown, or combine some components, or different components, for example, the communication information protection apparatus/terminal device may further include an input-output device, a network access device, a bus, etc.
The Processor 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 device, discrete hardware component, or the like. The general processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor is a control center of the robot trajectory planning terminal and connects various parts of the whole robot by using various interfaces and lines.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the robot trajectory planning system by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating device, an application program required for at least one function, and the like; the storage data area may store data created according to the use of the robot, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the robot trajectory planning system or the terminal integrated module/unit, if implemented in the form of software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may 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, etc.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (10)
1. A robot trajectory planning method is characterized by comprising the following steps:
representing the path (p (s)) in a path parameter form, discretizing the path, calculating the speed limit at each discrete point, and fitting a parameter-speed constraint curve according to joint speed constraint;
setting a speed look-ahead plan to carry out high-order continuous segmentation on the path, and correcting the path parameter of the current interpolation period through the speed look-ahead plan before issuing a servo to the path parameter;
the speed look-ahead planning comprises:
step S1: obtaining a current speed (V)current) AddingSpeed (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) Calculating the foresight distance of the robot when the robot is decelerated to zero in the non-uniform-speed section by using a set speed curve, and planning the speed according to the foresight distance;
step S2: and comparing the speed plan with the parameter-speed constraint curve, judging whether the speed plan has an overrun position, and issuing the path parameter to a servo to control the robot to move when the overrun position does not exist.
2. The robot trajectory planning method according to claim 1,
when the overrun position exists, circulating the speed forward-looking planning step, including;
adjusting the look-ahead maximum speed (V)max) Returning to the step S1 and the step S2 of the prospective planning, recalculating, comparing and judging the speed planning;
and when the overrun position does not exist, issuing the corrected path parameters to a servo so as to control the movement of the robot.
3. The robot trajectory planning method according to claim 1 or 2, further comprising an interpolation distance determining step while issuing the interpolation parameter to the servo, including:
updating the look-ahead distance to be the distance from the speed planning acceleration to the uniform acceleration section;
judging whether the current planning distance of the path is greater than the look-ahead distance;
when the planning distance is larger than the look-ahead distance, the current speed (V) of the current interpolation is used againcurrent) Acceleration (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) Performing a new sectional speed planning;
and when the planning distance is smaller than the forward-looking distance, carrying out real-time interpolation to generate interpolation points until the path is completely finished.
4. The robot trajectory planning method according to claim 1, further comprising a path initialization step, the path initialization step including:
obtaining a path (p (s));
obtaining a given acceleration time (t)2) Calculating the maximum acceleration under the moment constraint according to the acceleration time and the set speed curve;
representing the path (p (s)) in a path parameter form, discretizing the path, calculating a velocity constraint at each discrete point, and fitting the parameter-velocity constraint curve according to the joint velocity constraint;
initializing the parameters of the look-ahead planning, the look-ahead distance being zero, the current speed (V) at the first planningcurrent) And acceleration (A)current) Zero, first look-ahead maximum speed (V)max) One-half of the speed limit is taken from the first discrete point.
5. The robot trajectory planning method according to claim 1 or 4,
the set speed curve is an S-type speed curve or a Sin-type speed curve;
the parameter-speed constraint curve calculation formula is as follows:
where V is the maximum Cartesian velocity constraint, θmaxFor each joint maximum velocity, J (θ) is the Jacobian matrix at the discrete point and vector is the first derivative of the path at the discrete point.
6. A robot track planning system is characterized by comprising a track interpolation module, wherein the track interpolation module comprises a look-ahead planning module and an interpolation module, the look-ahead planning module comprises a speed planning module and a comparison and judgment module,
the look-ahead planning module is used for performing high-order continuous segmentation on the path and correcting the path parameter of the interpolation period before issuing the servo;
the speed planning module is used for obtaining the current speed (V)current) Acceleration (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) Calculating the foresight distance of the robot when the robot is decelerated to zero in the non-uniform-speed section by using a set speed curve, and planning the speed according to the foresight distance;
the comparison judging module is used for comparing the speed plan with the parameter-speed constraint curve and judging whether the speed plan has an overrun position;
the interpolation module is used for sending the path parameters to a servo so as to control the robot to move when the overrun position does not exist.
7. The robot trajectory planning system of claim 6, further comprising a path initialization module comprising a path module, a maximum acceleration module, a curve fitting module, and a valuation module;
-said path module for obtaining a path (p (s));
the maximum acceleration module is used for obtaining a given acceleration time (t)2) Calculating the maximum acceleration under the moment constraint according to the acceleration time and the set speed curve;
the curve fitting module is used for discretizing the path, calculating the speed constraint at each discrete point, and fitting the parameter-speed constraint curve according to the joint speed constraint;
the assignment module is used for initializing parameters of the look-ahead planning, the look-ahead distance is zero when the look-ahead planning is carried out for the first time, and the current speed (V)current) And acceleration (A)current) Zero, first look-ahead maximum speed (V)max) Taken one-half of the speed limit from the first discrete point.
8. The robot trajectory planning system of claim 6, further comprising a loop judgment module and an interpolation distance judgment module, wherein the interpolation distance judgment module comprises an update module, a second judgment module and a segmentation module,
the circulation judging module is used for adjusting the maximum look-ahead speed (V) when the position exceeds the limit positionmax) Returning to the step of circulating the speed look-ahead planning, and recalculating, comparing and judging the speed planning;
the updating module is used for updating the foresight distance to be the distance from the speed planning to the uniform acceleration section;
the second judging module is used for judging whether the current planning distance of the path is greater than the look-ahead distance;
the segmentation module is used for re-calculating the current speed (V) of the current interpolation when the planning distance is larger than the look-ahead distancecurrent) Acceleration (A)current) Maximum acceleration and look-ahead maximum velocity (V)max) Performing a new sectional speed planning;
and the interpolation module is also used for carrying out real-time interpolation when the planning distance is smaller than the look-ahead distance, and generating interpolation points until all paths are finished.
9. An industrial robot comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the method according to any of claims 1-5 when executing said computer program.
10. A robot computer program product, characterized in that the computer program product comprises a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to carry out the method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210204840.4A CN114690767A (en) | 2022-03-03 | 2022-03-03 | Robot trajectory planning method and system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210204840.4A CN114690767A (en) | 2022-03-03 | 2022-03-03 | Robot trajectory planning method and system and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114690767A true CN114690767A (en) | 2022-07-01 |
Family
ID=82137989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210204840.4A Pending CN114690767A (en) | 2022-03-03 | 2022-03-03 | Robot trajectory planning method and system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114690767A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116795042A (en) * | 2023-06-27 | 2023-09-22 | 上海铼钠克数控科技有限公司 | Method for detecting path of numerical control system and application |
-
2022
- 2022-03-03 CN CN202210204840.4A patent/CN114690767A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116795042A (en) * | 2023-06-27 | 2023-09-22 | 上海铼钠克数控科技有限公司 | Method for detecting path of numerical control system and application |
| CN116795042B (en) * | 2023-06-27 | 2024-03-12 | 上海铼钠克数控科技有限公司 | Method for detecting path of numerical control system and application |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2019517929A (en) | Trajectory planning method of point-to-point movement in robot joint space | |
| CN111553239B (en) | Robot joint vision servo control method, terminal equipment and storage medium | |
| CN113954831B (en) | Vehicle transverse control method and device and automatic driving vehicle | |
| CN114952868B (en) | 7-degree-of-freedom SRS (sounding reference Signal) type mechanical arm control method and device and piano playing robot | |
| JP2023547745A (en) | Vehicle obstacle avoidance methods, devices, electronic devices, storage media | |
| CN111739342B (en) | Method, device, medium, and vehicle for avoiding vehicle ahead of side | |
| CN113510720B (en) | Real-time distributed cooperative robot control system | |
| CN114227685B (en) | Mechanical arm control method and device, computer readable storage medium and mechanical arm | |
| CN113119111A (en) | Mechanical arm and track planning method and device thereof | |
| CN114690767A (en) | Robot trajectory planning method and system and robot | |
| CN112597612B (en) | Robot optimization method, device, terminal equipment and computer readable storage medium | |
| CN113771829B (en) | Control method and device for automatic driving vehicle | |
| CN112720472B (en) | Robot trajectory planning method and device, storage medium and robot | |
| CN116301058B (en) | Unmanned flight feedback nonlinear yaw control method, system and equipment | |
| CN112148035A (en) | Multi-unmanned aerial vehicle track optimization method and device, storage medium and computer equipment | |
| CN114211495B (en) | Self-adaptive track optimization method and system for semiconductor wafer conveying mechanical arm | |
| CN113067527A (en) | Controller and control system adapted to perform motor control | |
| CN112847340B (en) | Control method, control device and robot | |
| CN114274148B (en) | Track planning method and device, electronic equipment and storage medium | |
| CN114161401B (en) | Centroid height planning method and device computer readable storage medium and robot | |
| CN113459103B (en) | Corner track control method and device during automatic operation of manipulator | |
| CN113109852B (en) | Path planning method and device for entering narrow space of unmanned aerial vehicle | |
| CN117608245A (en) | Multidimensional vector transition method, multidimensional vector transition device, processing equipment and storage medium | |
| CN117742326A (en) | Track tracking control method and device | |
| CN117021090A (en) | Robot control method, device, readable storage medium and robot system |
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 |