CN116560359A - Improved robot trapezoidal speed curve planning method and system - Google Patents
Improved robot trapezoidal speed curve planning method and system Download PDFInfo
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- CN116560359A CN116560359A CN202310420166.8A CN202310420166A CN116560359A CN 116560359 A CN116560359 A CN 116560359A CN 202310420166 A CN202310420166 A CN 202310420166A CN 116560359 A CN116560359 A CN 116560359A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention provides an improved robot trapezoidal speed curve planning method and system, comprising the following steps: acquiring a trapezoidal speed curve in the motion planning of the robot, wherein the trapezoidal speed curve comprises an acceleration stage and a deceleration stage; and the acceleration stage and the deceleration stage control the acceleration and deceleration operation in the movement of the robot according to a preset parabolic curve. The discontinuity of the trapezoid speed curve is improved through the smoothness of the parabola, the speed curve of the robot is smoother, the realization is simple, and the practical application value is good.
Description
Technical Field
The invention belongs to the technical field related to robot motion planning, and particularly relates to an improved robot trapezoidal speed curve planning method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The trapezoidal speed curve is one of the most common speed planning modes in the control of the mechanical arm, has the characteristics of simplicity and easiness in realization, and can realize rapid feeding movement. However, this speed planning has the disadvantage that one of them is the discontinuous acceleration of the trapezoidal speed profile, which can cause shocks and stresses on the mechanical system during the rapid feed movement. When the arm accelerates from a stationary state to a maximum speed, the acceleration may suddenly change, which may cause impact and pressure to the components and structures of the arm. Such impacts and pressures may cause damage to components and structures of the robotic arm, resulting in reduced lifetime of the robotic arm. In addition, discontinuous accelerations may also cause undesirable vibration effects on the robotic arm that can affect the accuracy and performance of the robotic arm.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an improved robot trapezoidal speed curve planning method and system, and the discontinuity of a trapezoidal speed curve is improved through the smoothness of parabolas, so that the robot speed curve is smoother.
To achieve the above object, a first aspect of the present invention provides an improved robot trapezoidal speed curve planning method, comprising:
determining an acceleration stage and a deceleration stage of a speed curve based on an initial speed, a final speed and a maximum speed in the robot motion planning;
in the acceleration stage, controlling the movement of the robot in a way that the acceleration changes along with the change of acceleration time;
in the deceleration stage, the movement of the robot is controlled in such a way that the acceleration varies with the deceleration time.
A second aspect of the invention provides an improved robotic trapezoidal speed profile planning system comprising:
and a determination module: determining an acceleration stage and a deceleration stage of a speed curve based on an initial speed, a final speed and a maximum speed in the robot motion planning;
acceleration control module: controlling the movement of the robot in a way that the acceleration changes along with the acceleration time;
the deceleration control module: the acceleration is changed along with the change of the deceleration time to control the movement of the robot.
A third aspect of the present invention provides a computer apparatus comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor in communication with said memory via the bus when the computer device is running, said machine readable instructions when executed by said processor performing an improved method of robotic ladder speed profile planning.
A fourth aspect of the invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs an improved method of robot trapezoidal speed curve planning.
The one or more of the above technical solutions have the following beneficial effects:
in the invention, the acceleration stage and the deceleration stage of the trapezoidal speed curve are improved, and the acceleration in the acceleration stage and the acceleration in the deceleration stage are continuously changed along with the change of the acceleration time and the deceleration time, so that the discontinuity of the trapezoidal speed curve is improved, the speed curve of the robot is smoother, the realization is simple, and the practical application value is better.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic view of a modified trapezoidal velocity profile according to a first embodiment of the present invention;
FIG. 2 (a) is q in the first embodiment of the present invention 0 ＝0,q 1 Position, velocity and acceleration curve planning diagram at=5;
FIG. 2 (b) is q in the first embodiment of the present invention 0 ＝0,q 1 -5, position, velocity and acceleration curve planning schematic;
FIG. 2 (c) is q in the first embodiment of the present invention 0 ＝5,q 1 Position, velocity and acceleration curve planning diagram at=0;
FIG. 2 (d) is q in the first embodiment of the present invention 0 ＝5,q 1 -5, position, velocity and acceleration curve planning schematic;
FIG. 2 (e) is q in the first embodiment of the present invention 0 ＝-5,q 1 Position, velocity and acceleration curve planning diagram at=0;
FIG. 2 (f) is q in the first embodiment of the present invention 0 ＝-5,q 1 Position, velocity and acceleration curve plans at=5.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
The embodiment discloses an improved robot trapezoidal speed curve planning method, which comprises the following steps:
determining an acceleration stage and a deceleration stage of a speed curve based on an initial speed, a final speed and a maximum speed in the robot motion planning;
in the acceleration stage, controlling the movement of the robot in a way that the acceleration changes along with the change of acceleration time;
in the deceleration stage, the movement of the robot is controlled in such a way that the acceleration varies with the deceleration time.
The trapezoidal speed profile is a speed profile commonly used in robot motion planning, as shown by the trapezoidal profile in fig. 1. The trapezoidal speed profile is based on initial/final speedMaximum acceleration/deceleration, maximum speed, and initial/final displacement to calculate acceleration section (T a ) Constant speed section (T) v ) Speed reduction section (T) d ) The time required, and calculate the desired trajectory from the displacement, velocity and acceleration formulas. However, the trapezoidal velocity profile has discrete accelerations which can cause shocks and stresses on the mechanical system during rapid feed movements, even resulting in damage to the mechanical arm or poor vibration effects. To solve this problem, the present embodiment proposes a parabolic-based trapezoidal speed curve optimization strategy, which improves the discontinuity of the trapezoidal speed curve by using the smoothness of the parabola, as shown by the broken line in fig. 1.
The modified trapezoidal speed profile in this embodiment still employs three segments: the device comprises an acceleration section, a uniform speed section and a deceleration section, wherein parabolas are adopted in the acceleration section and the deceleration section to improve the discontinuity.
The improved trapezoidal speed curve expression is:
wherein a is m For maximum acceleration, v m For maximum speed τ 1 ,τ 2 ,τ 3 The running time of the acceleration stage, the constant speed stage and the deceleration stage respectively, A is a parameter to be solved, and the size of the parameter is used for determining the shape and the size of the curve.
Assuming that the maximum speed of the robot motion can be reached, the maximum speed curve expression is shown according to the formula (2)The method can obtain:
solving the above equation yields:
let T be a With a solution, it is possible to obtain from equation (5):
taking outObtaining:
in the present embodiment, the final trajectory expression can be obtained by the above formula (3) as follows:
according to the principle of trapezoidal curve symmetry, assuming that the time of acceleration section and deceleration section are identical, consider critical state, i.e. non-uniform speed section, i.e. T v =0, the trace can be reduced to:
will beAnd->Substitution into the above formula can be obtained:
the critical speed obtained by finishing is as follows:
wherein v is temp Indicating the critical speed.
If there is a constant velocity phase, on the basis of equation (10), it can be obtained:
solving the equation to obtain the time T of the constant speed section V ，
The discriminant of whether the system can reach the maximum speed is:
v lim i.e. the final speed value of the constant speed section, i.e. v m ＝v lim For the calculation of the final displacement, velocity and acceleration (i.e. equations (1), (2), (3)).
In the present embodiment, for a predetermined start position q 0 And end position q 1 The following two cases need to be discussed:
if q 1 ≥q 0 Based on the above equations (1), (2) and (3), the corresponding curve trajectory, velocity and acceleration curves can be obtained.
If q 1 ＜q 0 That is, when the initial position is larger than the final position, the above-described solving process results in a complex number squaring to cause calculation failure, and the coefficient σ=sign (q 1 -q 0 ) Wherein sign is a sign function:
the reversal operation is performed on the predetermined start and end positions, speed and acceleration passing coefficient, that is,then substituting the obtained parameter into formulas (1), (2) and (3) as a known parameter to solve corresponding tracks, speeds and accelerations, inverting the curves again, and finally completing the output of the tracks.
The present example tested an improved trapezoidal speed curve algorithm, assuming a maximum speed v m =2, maximum acceleration a m =10, initial velocity v 0 Endpoint speed v =0 1 =0 by varying the starting position q 0 And end position q 1 The algorithm is tested, i.e. q is considered separately 0 And q 1 Is a relative size of (c). The experiment sets 6 states, respectively:
q 0 ＝0,q 1 ＞0；q 0 ＝0,q 1 ＜0；
q 0 ＞0,q 1 ＝0；q 0 ＜0,q 1 ＝0；
q 0 ＞0,q 1 ＜0；q 0 ＜0,q 1 ＞0；
the position, velocity and acceleration curves for the different situations described above are planned based on the improved algorithm described above as shown in fig. 2 (a) -2 (f).
According to fig. 2 (a) -2 (f), it can be seen that the improved trapezoidal speed curve algorithm can realize the planning of the motion track, the speed curve and the acceleration curve of the mechanical arm joint under different conditions, and has good performance, and smooth curve track and shorter motion time are realized. The result shows that the provided optimization curve algorithm can effectively improve the control performance of the mechanical arm joint, and has practical application value.
Example two
It is an object of the present embodiment to provide a computing device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor implements the steps of the method described above when executing the program.
Example III
An object of the present embodiment is to provide a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the above method.
Example IV
It is an object of this embodiment to provide an improved robot trapezoidal speed curve planning system comprising:
and a determination module: determining an acceleration stage and a deceleration stage of a speed curve based on an initial speed, a final speed and a maximum speed in the robot motion planning;
acceleration control module: controlling the movement of the robot in a way that the acceleration changes along with the acceleration time;
the deceleration control module: the acceleration is changed along with the change of the deceleration time to control the movement of the robot.
The steps involved in the devices of the second, third and fourth embodiments correspond to those of the first embodiment of the method, and the detailed description of the embodiments can be found in the related description section of the first embodiment. The term "computer-readable storage medium" should be taken to include a single medium or multiple media including one or more sets of instructions; it should also be understood to include any medium capable of storing, encoding or carrying a set of instructions for execution by a processor and that cause the processor to perform any one of the methods of the present invention.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented by general-purpose computer means, alternatively they may be implemented by program code executable by computing means, whereby they may be stored in storage means for execution by computing means, or they may be made into individual integrated circuit modules separately, or a plurality of modules or steps in them may be made into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (10)
1. An improved robot trapezoidal speed curve planning method, comprising:
determining an acceleration stage and a deceleration stage of a speed curve based on an initial speed, a final speed and a maximum speed in the robot motion planning;
the acceleration stage controls the movement of the robot in a manner that the acceleration changes based on the acceleration time change of the acceleration stage;
the deceleration stage controls the movement of the robot in such a manner that the acceleration changes based on the deceleration time change of the deceleration stage.
2. An improved robotic ladder speed profile planning method as claimed in claim 1, in which the coefficients of acceleration phase acceleration time, deceleration phase deceleration time are determined by maximum acceleration, maximum speed.
3. An improved robot trapezoidal speed profile planning method according to claim 2, characterized in that the speed profile of the acceleration phase is determined by the maximum acceleration of the acceleration phase, the acceleration time of the acceleration phase, the speed at the initial moment of the acceleration phase and said coefficients.
4. An improved robotic ladder speed profile planning method as claimed in claim 2, in which the speed profile of the deceleration phase is determined by the deceleration time of the deceleration phase, the maximum speed and the coefficients.
5. An improved robotic trapezoidal speed profile planning method according to claim 1, further comprising: when the acceleration time of the acceleration stage is the same as the deceleration time of the deceleration stage and the constant speed stage does not exist, obtaining an initial position and an end position of a motion track of the robot according to the determined speed curve of the acceleration stage and the determined speed curve of the deceleration stage; determining the critical speed of the robot motion according to the initial position and the final position of the motion trail and the maximum acceleration of the acceleration stage; and determining whether the robot motion reaches the set maximum speed by judging the calculated critical speed and the set maximum speed.
6. An improved robotic trapezoidal speed profile planning method according to claim 2, further comprising: if the initial position of the robot motion is larger than the set end position, the initial position, the end position, the initial speed and the maximum speed of the robot motion are corrected by a sign function based on the initial position and the end position in the acceleration stage and the deceleration stage, and the robot motion trail is determined based on the corrected parameters and the coefficients.
7. An improved robot trapezoidal speed profile planning method according to claim 6, wherein if the initial position of the set robot motion is less than the set end position, the robot motion trajectory is determined based on the initial position, the end position, the initial speed and the maximum speed of the acceleration stage of the set robot motion, and the coefficient.
8. An improved robotic trapezoidal speed profile planning system, comprising:
and a determination module: determining an acceleration stage and a deceleration stage of a speed curve based on an initial speed, a final speed and a maximum speed in the robot motion planning;
acceleration control module: controlling the movement of the robot in a way that the acceleration changes along with the acceleration time;
the deceleration control module: the acceleration is changed along with the change of the deceleration time to control the movement of the robot.
9. A computer device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory in communication via the bus when the computer device is running, said machine readable instructions when executed by said processor performing an improved robotic ladder speed profile planning method according to any of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs an improved robot ladder speed curve planning method according to any of claims 1 to 7.
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