KR20040060825A - Trajectory generation method and system for real-time response at motion control - Google Patents

Abstract

PURPOSE: A trajectory generation method and a system for a real-time response at a motion control is provided to reflect the change of position or velocity commands within restrained time on moving a robot system. CONSTITUTION: When an initial velocity is zero, the velocity is divided into accelerated, uniform, and decelerated sections. When the initial velocity is not zero, the velocity is divided into blending, uniform, and decelerated sections. The accelerated and decelerated sections use a third polynomial expression and the uniform section uses a constant to determine a velocity profile. In the blending section, a velocity profile allowing the initial velocity to be zero is blended with the velocity profile. According to the determined trajectory, the changed position and velocity are reflected within restrained time at the motion of a robot.

Description

Trajectory generation method and system for real-time response at motion control

The present invention relates to motion control in a robot control system and the like, and more specifically, to generate a trajectory capable of real-time response to a changed position or speed in real time during movement through a position branding method and reflecting the motion to an external control. The present invention relates to a trajectory generation method and system for real-time response of motion control to enable real-time response to an event.

Recently, various kinds of robots are used in industrial sites, and among them, there are welding robots for welding various materials such as steel plates. This industrial robot system changes the movement path through the motion control of the robot. In motion control, the position movement is determined by the constraints of acceleration, deceleration, and maximum velocity depending on the mechanical limits of the actuator and robot, in addition to the input target distance and target velocity. Conventional methods for changing the speed or position during movement include the use of higher order polynomials and the speed branding method. The method of using the higher order polynomial is a method of obtaining a coefficient of the polynomial at a time point to be changed, and finding a target point to be moved by using a solution of the polynomial for each sampling time as the obtained coefficient. This method is complicated in obtaining coefficients of polynomials and has a large amount of calculation. Velocity branding is a method in which deceleration and acceleration are combined using a polynomial having a predetermined coefficient. However, the target position cannot be specified in the application of position branding.

However, the real-time response in motion control has a significant meaning in robot systems and the like that must show immediate response from various sensors. For real-time response of motion control according to position movement, a method of creating a velocity profile when the initial velocity and acceleration are not "0" has been proposed.

It is divided into three sections based on lift-off position and set-down position to have initial velocity and acceleration, final velocity and acceleration in moving from initial position to final position. . There are 4-3-4 trajectories and 5 cubic splines using continuous velocity and acceleration between these sections. These methods have a relatively large amount of computation for higher order polynomial processing because of the velocity profile generation when the initial velocity and acceleration and the final velocity and acceleration are not "0".

Of course, there are several studies on trajectory generation for real time response. For example, Volpe's "Task Space Velocity Blending for Real-Time Trajectory Generation" IEEE International Conference on Robotics and Automation, May 2-6 1993, Atlanta Georgia. And Loyd's "Trajectory Generation for Sensor-Driven and Time-Varying Tasks". ", International Journal of Robotics, August, 1993. Two documents. The methods mentioned in these documents are not applicable when the initial acceleration is not "0", and no description is made about the generation of the trajectory according to the change of the target position in the working space.

Accordingly, an object of the present invention is to reflect the change of the position or velocity changed in real time during motion through the trajectory generation algorithm that enables a real-time response to the target position or target velocity change using a simple position branding method than the conventional polynomial method. The present invention provides a trajectory generation method and system for real-time response of motion control that can be applied even when the initial acceleration is not "0".

1 shows a graph showing a velocity profile in a linear / smooth manner in accordance with the present invention.

2 is a graph showing a velocity profile according to initial acceleration a ₀ and velocity v ₀ .

3 is a system configuration diagram showing a trajectory generation system for a motion control real-time response according to the present invention.

4 is a state diagram showing a real-time motion control processing model of the system of FIG. 3 in accordance with the present invention.

<Description of the symbols for the main parts of the drawings>

100: upper controller (CPU) 200: external hardware

10: middleware 20: motion controller

21: command decoder 22: trajectory generation unit

23: inverse kinematics calculation unit 25: interface control unit

26: kinematic calculation unit 30: multi-axis position control unit

40: motor drive unit 50: motor

Trajectory generation method for the real-time response of the motion control according to the present invention for achieving the above object, a method for changing the real-time movement path of the robot performing a task on the work path between the predetermined work start point and the work end point (1) setting the section by dividing into three sections of acceleration, constant velocity and deceleration when the initial velocity is "0", and dividing into three sections of branding, constant velocity and deceleration if the initial velocity is not "0"; (2) obtaining a velocity profile for moving to the final position using a third order polynomial in the acceleration section and the deceleration section of the set three sections, and using a constant speed in the constant velocity section, and (3) In the branding section of the section, the velocity profile that makes the velocity "0" at the initial velocity for a given change time and the velocity profile obtained in step (2) And a step of motion control by reflecting the real-time position and velocity changes within a limited time during movement along the trajectory and obtaining a velocity profile, obtained above (4).

The system for real-time response of motion control to achieve the object of the present invention, in the motion control system that can change the movement path in real time during the operation of the robot, the middleware for receiving and transmitting a robot control command from the robot operator And a controller configured to perform motion control of the robot, and an upper controller configured to perform a task by generating a token when an event of motion control enable / disable and movement occurs in an initial idle state. CPU) and an external hardware having a multi-axis position control unit for controlling the position of the axes according to the control of the upper controller, wherein the motion controller performs an interface with the middleware to perform a decryption operation when a command is transmitted. A command decoder for distinguishing between unit movement or movement with respect to the world coordinate system; When an interrupt event occurs in the hardware, the command decoder preprocesses the distinguished command to generate a speed profile for acceleration, deceleration, and constant velocity of the robot, and calculates a trajectory, and calculates a plurality of axes of the robot. It includes a kinematics calculator, a kinematics calculator for calculating the world coordinate value from the axis value, and an interface controller for performing the interface with the multi-axis position controller to transfer the target position value.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, in order to enable real-time response of motion control according to position movement, the following three conditions must be satisfied.

First, we need to know the position, velocity, and acceleration information at any moment when an event occurs. That is, the reason for knowing the position, velocity, and acceleration at the moment of occurrence of the event is that it is necessary information to create a velocity profile having continuous velocity and acceleration at the initial position for smooth movement.

Second, it should be possible to make a velocity profile according to a given target position or target velocity when the initial velocity is not "0".

Third, there must be a control method that can process the trajectory generation algorithm in real time.

The present invention selects a polynomial having a relatively small amount of calculation according to the initial velocity and acceleration to generate a velocity profile when the initial velocity and acceleration are given and the final velocity and acceleration are "0". That is, the process is divided into the case where the initial velocity and the acceleration are "0" and the case where the initial velocity and the acceleration are not "0". When the initial velocity and acceleration are "0", the velocity profile is divided into acceleration section, constant velocity section and deceleration section. The velocity profile is calculated by 3rd order polynomial in acceleration section and deceleration section, and constant velocity is used in constant velocity section. Find the velocity waveform.

If the initial speed and acceleration are not "0", the process is divided into a branding section, a constant speed section and a deceleration section. In the branding section, the velocity profile makes the speed "0" at the initial speed and moves to the final position for a given change time. Brand the velocity profile for the acceleration section. The velocity profile generation method that sets velocity to "0" at the initial velocity uses the 4th or 5th order polynomial. In the velocity profile generation method for moving to the final position, the third order polynomial is used in the acceleration section and the deceleration section, and the constant velocity is used in the constant velocity section. Therefore, when the initial speed is not "0", the branding section and the acceleration section have an asymmetrical form.

First, the generation of the axis coordinate trajectory will be described by dividing the initial velocity to change the trajectory in the axis space into " 0 " and the other case.

The velocity waveform generation method when the initial velocity is "0" is as follows.

The method of generating the trajectory (S _n (t)) for providing continuous velocity according to the moving distance (So), the magnitude of the acceleration (aa), the magnitude of the deceleration (ad), and the magnitude of the target velocity (Vd) is as follows. Equation 1

Here, f _acc (s) is a normalized characteristic function for determining the form of acceleration, and f _dec (s) is a normalized characteristic function for determining the form of deceleration. s is a normalized time parameter for acceleration time and deceleration time s ∈ [0.1]. Sa, Su, and Sd are the moving distances in the acceleration section, the constant speed section, and the deceleration section, and ta, tu, and td represent the time at which the acceleration, constant speed, and deceleration ends.

In the present embodiment, the moving distances Sa and Sd in the acceleration section and the deceleration section are the time td-tu minus the time ta of the acceleration and the time td of the deceleration ending (tu). The linear method and the smooth method are used to have the characteristic that is 1/2 of the distance (Su) moving at constant speed.

Given the moving distance So, the acceleration magnitude (aa), the target velocity magnitude (Vd), and the deceleration magnitude (ad), the maximum possible velocity Vm is obtained as in Equation 2 below.

Using the maximum speed (Vm) obtained by the above equation (2) it can be seen the moving distance (Sa, Su, Sud) and the ending time (ta, tu, td) in the acceleration section, constant velocity section, deceleration section. This is defined in equation (3).

Here, d is a value for determining the sign of the maximum speed (Vm) in order to receive the target speed (Vd) regardless of the sign of the moving distance (So) in the motion control, it is defined by the following equation (4).

In order to apply the above velocity waveform generation method to the position trajectory, the characteristic functions f _acc (s) and f _dec (s) that determine the form of acceleration and deceleration must satisfy the following condition 1.

Condition 1

For the start of the acceleration and deceleration sections, f _acc (0) = 0 and f _dec (0) = 0 are satisfied.

At the end of the acceleration and deceleration section, f _acc (1) = 1 and f _dec (1) = 1 are satisfied.

The minimum order function that satisfies condition 1 above is a characteristic function having the linear velocity characteristics shown in Table 1 below.

Speed characteristics Linear method Smooth method Acceleration and deceleration

In order to have a smooth acceleration / deceleration pattern, the following condition 2 must also be satisfied.

Condition 2

For the start of the acceleration and deceleration sections, f '' acc (0) = 0 and f''dec (0) = 0 must be satisfied.

At the end of the acceleration and deceleration sections, f '' acc (1) = 0 and f''dec (1) = 0 must be satisfied.

In the acceleration and deceleration sections, facc (s) and fdec (s) must be continuous functions at s∈ [0,1].

The minimum order function that satisfies these conditions is a smooth characteristic function with the third order polynomial velocity characteristic of Table 1. To create a velocity waveform with a real-time response, you need to know the position, velocity, and acceleration information at any moment. The instantaneous velocity v (t) and acceleration a (t) in the above-described velocity profile generation method can be obtained as in Equations 5 and 6 below.

The speed profile according to these speed characteristics is shown in FIG.

1 is a graph showing a velocity profile in a linear / smooth manner according to the present invention. 1, the horizontal axis represents time t, and the vertical axis represents speed v (t).

(A) and (c) of FIG. 1 are velocity profiles when a linear method is used, and FIG. 1 (b) and (d) are velocity profiles when a smooth method is used. And (a) and (b) of Figure 1 is the velocity profile of the maximum speed (Vm) and the target speed (Vd) is not the same (Vm ≠ Vd), Figures (c) and (d) of Figure 1 is the highest This is the speed profile when the speed Vm and the target speed Vd are the same (Vm = Vd).

Next, the velocity waveform generation method when the initial velocity is not "0" will be described.

If the initial velocity and acceleration are not "0", it is divided into branding section, constant speed section and deceleration section. In the branding section, the difference between the velocity profile that makes the velocity "0" at the initial velocity v0 and the distance Sb that has been moved to make the velocity "0" at the initial velocity (S0) during the given change time (tb). -Brand the acceleration section profile to move Sb). The velocity profile that makes velocity zero at the initial velocity v0 for a given transition time tb is

According to the sign of the product of the initial velocity v0 and the acceleration a0 (v0 * a0), it is possible to predict whether the moment of occurrence of the event is the acceleration section, the constant velocity section, or the deceleration section of the previous movement. That is, if the product of the initial velocity and the acceleration (v0 * a0) is greater than "0" (v0 * a0> 0), the event occurred in the acceleration section of the previous movement, and less than "0" (v0 * a0 < 0) means that the event occurred in the deceleration section of the previous movement, and when the initial acceleration a0 is "0", the event occurred in the constant speed section.

The branding characteristic function when the initial acceleration a0 is "0", that is, when an event occurs in the constant velocity section of the previous movement, is the deceleration characteristic function of the smooth method of Table 1 described above. In this case, the moving distance Sb is obtained by dividing the product (tb * v0) of the transition time tb and the initial speed v0 by 1/2. Here, when the initial acceleration a0 is not "0", the branding characteristic function is determined by the following condition 3.

Condition 3

F _blend (0) = 0, f ' _blend (0) = t _b ² a _o / S _b , f'' _blend (0) = t _b v _o / S _b

Fblend (1) = 1, f'blend (1) = 0, f''blend (1) = 0

Here, the application function is different in the case of the deceleration section and the acceleration section of the previous movement.

The branding characteristic function (fblend) according to the deceleration section and the acceleration section of the previous movement is shown in Table 2 below.

The parameters α, β, γ, δ, and Sb of the branding characteristic function fblend are obtained as shown in Condition 3 and Table 2 above.

A method of generating a position rule Sbb (t) which makes the initial acceleration a0 and the velocity v0 "0" by the branding characteristic function fblend (s) is defined by Equation 7 below.

The speed profile generation method for the moving distance Sd in the deceleration section is changed as follows.

The velocity profile generation method for moving the difference (S0-Sb) between the given moving distances S0 and Sb is the same as the velocity profile generation method when the initial velocity is "0" except that the acceleration time is designated as the transition time (tb). Do. That is, since the time ta at which the acceleration section of Equation 3 ends is the transition time tb, the maximum speed Vm is determined by Equation 8 instead of Equation 2 regardless of the acceleration magnitude aa.

here, to be.

For moving the velocity profile that makes initial velocity (v0) and acceleration (a0) "0" and the difference (S0-Sb) between the given movement distance S0 and the distance Sb traveled to make velocity "0" at the initial velocity. A method of generating a real-time responsive trajectory S (t) obtained by branding a velocity profile is shown in Equation 9 below.

S (t) = S _n (t) + S _bb (t)

The velocity profile according to the initial velocity v0 and the acceleration a _{0 is} shown in FIG. 2.

2 is a graph showing a velocity profile according to an initial velocity v ₀ and an acceleration a ₀ in the velocity profile generation method, in which the horizontal axis represents time t and the vertical axis represents velocity v (t). Indicates. The dotted line on the graph of FIG. 2 indicates the velocity profile that makes the velocity "0" at the initial velocity v ₀ , and the dotted line and dot indicate the difference between the given moving distances S0 and Sb (S0-Sb). Is a velocity profile for moving

The graph represented by the line is a branded velocity profile.

(A) and (b) of FIG. 2 are velocity profiles whose position and velocity have changed in the acceleration section of the previous movement, where the initial acceleration a0 is greater than "0" (a0> 0). (C) and (d) of FIG. 2 are speed profiles in which the position and the speed are changed in the deceleration section of the previous movement, when the initial acceleration a0 is smaller than "0" (a0 <0). 2 (a) and 2 (c) show directions of initial velocity v0 and maximum velocity Vm, where the product of initial velocity v0 and maximum velocity Vm is greater than " 0 " (v0Vm > 0). This is the velocity profile in this case. 2 (b) and (d) show directions of initial velocity v0 and maximum velocity Vm, where the product of initial velocity v0 and maximum velocity Vm is less than " 0 " (v0Vm < 0). This is the velocity profile when it is not the same.

FIG. 6 illustrates a system for real-time response of motion control according to the present invention applying the position trajectory generation method for generating the velocity waveform and changing the velocity.

3 is a system configuration diagram showing a trajectory generation system for a motion control real-time response according to the present invention. Referring to FIG. 3, the system shown in FIG. 3 is largely composed of two processors. That is, it is composed of a CPU 100, which is an upper controller that controls the robot system as a whole, and external hardware 200 that performs axis position control. The CPU 100 includes middleware 10 and a motion controller 20. The middleware 10 is an intermediary placed between the client and the server in order to load an application program or resource on the server from the client, and is a means for transmitting a robot control command between the robot operator and the motion controller 20. The motion controller 20 may include a command decoder 21, a trajectory generation 22, an inverse kinematics calculation 23, and an interface controller to perform robot-dependent calculations. (interface control) 24, and forward kinematics calculation 25. The CPU 100 may execute another upper level program when the robot is stopped. The command decoder 21 performs an interface with the middleware 10. The trajectory generation unit 22 calculates the acceleration, deceleration, and constant velocity of the robot, and the inverse kinematic calculation unit 23 calculates a plurality of axis values of the robot, and the kinematic calculation unit 25 uses the world from the axis values. The coordinate value is calculated and transmitted to the command decoder 21. The interface controller 24 performs an interface with the external hardware 200 that controls the positions of the axes. The external hardware 200 includes a multi-axis position controller 30 and a motor driver 40 for controlling the positions of the plurality of axes of the robot according to the target position value transmitted from the motion controller 20. The multi-axis position controller 30 may control the position by synchronizing a plurality of axes or position control only a specific axis. The motor driver 40 drives the motor 50 so that a plurality of axes can be controlled by a target position value by the control of the multi-axis position controller 30. The real-time processing for motion control in the system of FIG. 6 having such a configuration will be described in detail with reference to FIG. 7.

4 is a state diagram showing a real time motion control processing model of the system of FIG. 3 in accordance with the present invention. Referring to FIG. 4, italic type (italic) is an event or state occurring in the CPU 100, and bold letters are an event or state occurring in the multi-axis position control unit 30. Bars represent transitions and perform tasks given by the CPU 100. The circle shows the state of the CPU 100 and the multi-axis position control unit 30.

In FIG. 4, the initial token is in a dormant state, and a token is generated when an event occurs. The events generated by the CPU 100 are motion control enable and disable (MC_ENABLE, MC_DISABLE), motion control move (MC_MOVE), and the state of the CPU 100 is either an available state or no idle operation. , READY and WAITING_UPDATE. When the transition occurs and when the transition occurs, the processing performed by the CPU 100 is as follows.

An event occurring in the multi-axis position control unit 30 of the external hardware 200 is an interrupt (INTERRUPT), the state of the multi-axis position control unit 30 is a multi-axis position control processing (PROCESSING_JPC) state. The motion control enable (MC_ENABLE) event occurs once initially when the motion controller 20 is to be used. If there is a token in the DORMANT state, the initial operation is performed. Upon completion of the initial (INITIALIZE) operation, the CPU 100 is in a READY state, and the multi-axis position control unit 30 enters the multi-axis position control processing (PROCESSING_JPC) state. The initial (INITIALIZE) operation is to perform the initial operation of the internal data of the motion controller 20 and send a signal to start the multi-axis position control unit 30. The motion control disable (MC_DISABLE) event occurs when the motion controller 20 is no longer used. If there is a token in the READY state and an INTERRUPT event occurs in the multi-axis position control unit 30, the final (FINALIZE) operation is performed. The final (FINALIZE) operation is to delete the internal data of the motion controller 20 and send a signal that the multi-axis position controller 30 ends. The motion control movement (MC_MOVE) event occurs when the target position or target velocity changes. When there is a token in the READY state, that is, when a command of the robot operator is transmitted through the middleware 10, a command_decode (COMMAND_DECODE) operation is performed in the command decoder 21 in the motion controller 20. The COMMAND_DECODE operation distinguishes between movement in axis or relative to the world coordinate system. If an interrupt (INTERRUPT) event occurs from the multi-axis position control unit 30 in the WAITING_UPDATE state, the CPU 100 processes the distinguished command in the PRE_PROCESSING state. The parameters Sa, Su. Sd, ta. Tu and td required for generating the velocity profile and finding the trajectory in the transition to the PRE_PROCESSING state are calculated. The formula for these parameters has been described above. When the robot moves, the external hardware 200 periodically controls each axis position Pj (t) at a given time Δt. At this time, an event that occurs periodically is an interrupt (INTERRUPT). If an interrupt (INTERRUPT) event occurs, periodic processing (PERIODIC_PROCESSING) is performed.

This task calculates Sn (t) or S (t) according to the initial velocity, obtains the inverse kinematics for the robot mechanism, and delivers the target position to the position controller.

In the real time processing in this way, the maximum instruction execution delay time is the interrupt generation cycle.

As such, the trajectory generation method when the initial velocity and acceleration are not "0" in order to enable the motion controller 20 to have a real-time response has a smaller calculation amount than the conventional 4-3-4 and 5 cubic spline methods. It is an easy form for real-time processing, and even if the initial acceleration is not "0", it is possible to generate a continuous velocity profile of the acceleration, thereby enabling smooth movement. Therefore, the present embodiment shows that the trajectory generation algorithm is applied to the linear motion of the Cartesian coordinate system to enable real-time response to position change and speed change.

As described above, the trajectory generation method and system for the real-time response of the motion control according to the present invention, reflects the change of the speed or position command within a limited time during the movement in the robot system that must respond in real time to an external event such as a sensor. In addition, it has the effect of expecting a real-time response even on a relatively slow CPU with a small amount of computation.

Claims (16)

In the method for changing the movement path of the robot performing the work on the work path between the predetermined work start point and the work end point in real time, (1) When the initial speed is "0", the robot is divided into three sections of acceleration, constant speed, and deceleration according to the moving speed of the robot, and when the initial speed is not "0", it is divided into three sections of branding, constant speed, and deceleration. Setting up; (2) obtaining a velocity profile for moving to the final position using a third order polynomial in the acceleration section and the deceleration section of the set three sections, and using a constant speed in the constant velocity section; (3) obtaining a velocity profile by branding a velocity profile that makes the velocity "0" at an initial velocity and a velocity profile obtained in the step (2) in a branding section of the set three sections; (4) a trajectory generation method for real-time response of motion control, comprising: controlling motion by reflecting a position and speed change in real time within a limited time during movement according to the obtained trajectory. The method of claim 1, wherein the step (2) generates a trajectory S _n (t) for providing a continuous velocity in axial space when the initial velocity is "0" based on the following equation. Trajectory generation method for real-time response of motion control. Here, Sa, Su, and Sd are the moving distances in the acceleration, constant speed, and deceleration sections, facc and fdec are normalized characteristic functions that determine the acceleration and deceleration types, and ta, tu, and td are the times when acceleration, constant speed, and deceleration end. Indicates. The method of claim 2, wherein the moving distances Sa, Su, and Sd in the acceleration, constant speed, and deceleration sections of step (2) are obtained based on the following equation. . Here, d is a value for determining the sign of the maximum speed (Vm) to receive the target speed (Vd) regardless of the sign of the moving distance (So) during motion control, aa is the acceleration magnitude, ad is the deceleration magnitude to be. 4. The trajectory generation method as claimed in claim 3, wherein the time (ta, tu, td) at which the acceleration, constant speed, and deceleration ends in step (2) is obtained based on the following equation. The method according to claim 2, wherein the step (2) is characterized by the fact that the characteristic functions for determining the acceleration and deceleration type when fac (0) = 0 and fdec (0) = 0 are satisfied. Trajectory generation method for real-time response of motion control, characterized by the linear velocity characteristics satisfying facc (1) = 1 and fdec (1) = 1 at the end of the interval. . 6. The real-time motion control of claim 5, wherein the step (2) uses a polynomial of f'acc (s) = 2s in the acceleration section and f'dec (s) = -2s + 2 in the deceleration section. Trajectory generation method for response. 6. The method according to claim 5, wherein step (2) is characterized in that f &quot; acc (0) = 0 and f &quot; (0) = 0 If the function is satisfied and the end of the acceleration / deceleration section is satisfied, the characteristic function that determines the acceleration and deceleration pattern satisfies f''acc (1) = 0, f''dec (1) = 0. Trajectory generation method for real-time response of motion control, characterized by smooth velocity characteristics according to The method of claim 7, wherein the step (2) in the acceleration stage f'acc (s) = - and uses the third order polynomial of ^{6s 2 + 2 - 4s 3 +} 6s 2 and f'dec (s) = 4s ³ Trajectory generation method for real-time response of the motion control characterized in that. 9. The method according to any one of claims 6 to 8, wherein step (2) is based on the following equation based on the velocity v (t) and acceleration a (t) of any instant in the obtained velocity profile: Trajectory generation method for real-time response of motion control characterized in that each desired. 9. The method of claim 8, wherein step (3) (3a) predicting which of the acceleration, constant velocity and deceleration periods of the previous movement is an instant of occurrence of the event according to the sign of the product of the initial velocity and the acceleration; (3b) determining a branding characteristic function according to the prediction result; (3c) obtaining a velocity profile that makes initial velocity and acceleration "0" with the determined branding characteristic function; And And (3d) branding a velocity profile for moving the difference between the obtained velocity profile and a given movement distance S0 and Sb (S0-Sb) to generate a trajectory capable of real-time response. Possible trajectory generation method. 11. The method according to claim 10, wherein step (3b) determines that the function of the smooth velocity characteristic is a branding characteristic function when an event occurs in the constant velocity section of a previous movement with an initial acceleration of "0" and the initial acceleration is "0". If the event occurs in the deceleration and acceleration section of the previous movement, the trajectory generation method capable of real-time response of motion control, characterized in that the following 4th and 5th polynomials are determined by the branding characteristic function (fblend (s)). Branding characteristic function according to deceleration section Branding characteristic function according to acceleration section ( 12. The method according to claim 11, wherein step (4) determines the distance traveled from the initial velocity vector to the velocity profile for making the velocity "0", and sets the position trajectory for making the initial velocity of any time "0". By using the movement distance and the target position to the determined speed profile, the distance moved in the direction of the target movement speed is obtained. Trajectory generation method for real-time response. 12. The method as claimed in claim 11, wherein the step (4) generates acceleration continuous position trajectories using asymmetric characteristic functions according to the initial acceleration. In the motion control system that can change the movement path in real time during the operation of the robot, Middleware that receives and transfers robot control commands from the robot operator, and a motion controller that performs the motion control of the robot, and tokens when an event of motion control enable / disable and movement occurs in the initial idle state. The upper controller (CPU) to control the occurrence of this operation occurs; And It includes an external hardware having a multi-axis position control unit for performing the position control of the axis in accordance with the control of the upper controller, The motion controller, A command decoder configured to perform an interface with the middleware and perform a decryption operation when the command is transmitted to discriminate whether it is a movement in an axis unit or a movement in a world coordinate system; A trajectory generation unit configured to calculate a trajectory by generating a speed profile related to acceleration, deceleration, and constant velocity of the robot by preprocessing a command distinguished from the command decoder when an interrupt event occurs in the external hardware; An inverse kinematic calculation unit for calculating a plurality of axis values of the robot; A kinematic calculation unit for calculating a world coordinate value from an axis value; And System for real-time response of motion control, characterized in that it comprises an interface control unit for performing the interface with the multi-axis position control unit to deliver a target position value. 15. The system of claim 14, wherein the multi-axis position control unit periodically generates an interrupt event at a given time and controls each axis position. 16. The system of claim 15, wherein the maximum command execution delay time of the motion control is an interrupt occurrence period.