WO2024045091A1 - Procédé, appareil et système de planification de trajectoire pour actionneur, et support d'enregistrement - Google Patents

Procédé, appareil et système de planification de trajectoire pour actionneur, et support d'enregistrement Download PDF

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Publication number
WO2024045091A1
WO2024045091A1 PCT/CN2022/116361 CN2022116361W WO2024045091A1 WO 2024045091 A1 WO2024045091 A1 WO 2024045091A1 CN 2022116361 W CN2022116361 W CN 2022116361W WO 2024045091 A1 WO2024045091 A1 WO 2024045091A1
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motion
actuator
motion control
control instruction
controller
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PCT/CN2022/116361
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English (en)
Chinese (zh)
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王子健
赵旭
范顺杰
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西门子股份公司
西门子（中国）有限公司
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Priority to PCT/CN2022/116361 priority Critical patent/WO2024045091A1/fr
Publication of WO2024045091A1 publication Critical patent/WO2024045091A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the present invention relates to the field of motion control technology, in particular to motion planning methods, devices, systems and storage media for actuators.
  • Planar sequencing tasks are widely used in production. How to plan and control the movement of the actuator to optimize the cycle time in planar sequencing tasks is a difficult problem that has yet to be solved.
  • the embodiment of the present invention provides a motion planning method, device, system and storage medium for an execution mechanism.
  • a motion planning method for an actuator includes:
  • Motion control instructions of the actuator are generated based on the motion planning results, wherein the motion control instructions are adapted to control the motion of the actuator so that the end effector accesses all the actuators in the same plane in the order.
  • the total time required to achieve multiple goals is the shortest;
  • the embodiment of the present invention determines the access sequence of multiple targets, and then plans the optimized motion of the actuator based on the dynamic constraints and access sequence of the actuator to minimize the total time, thereby reducing the cycle time of the plane sorting task and improving Improve work efficiency.
  • determining an order in which the end effector in the execution mechanism accesses multiple targets in the same plane includes at least one of the following:
  • a second path is determined that has the shortest total time when the end effector visits the plurality of targets in Cartesian linear motion, and the sequence is determined based on the second path.
  • the access sequence can be quickly determined based on multiple methods, that is, path planning can be quickly implemented in multiple ways.
  • determining the dynamic constraints of the execution mechanism includes at least one of the following:
  • the dynamic constraints include at least one of the following:
  • Second-order constraints used to constrain the acceleration of the actuator.
  • first-order constraints on velocity can be implemented, and second-order constraints on acceleration can also be implemented, which enriches the constraint conditions.
  • sending the motion control instruction includes:
  • the motion trajectory of the motion control instruction is interpolated to generate an interpolated motion control instruction, and the interpolated motion control instruction is sent to the The motion controller of the actuator is used to execute the interpolated motion control instruction by the motion controller.
  • a motion planning device for an actuator includes:
  • a first determining module configured to determine an order in which the end effector in the actuator accesses multiple targets in the same plane
  • a second determination module configured to determine the dynamic constraints of the actuator
  • a motion planning module configured to execute motion planning of the actuator based on the sequence and the dynamic constraints
  • an instruction generation module configured to generate a motion control instruction of the actuator based on the motion planning result, wherein the motion control instruction is adapted to control the movement of the actuator so that the end effector moves in the same plane
  • the total time required to access the multiple targets in the order is the shortest;
  • a sending module configured to send the motion control instruction.
  • the embodiment of the present invention determines the access sequence of multiple targets, and then plans the optimized motion of the actuator based on the dynamic constraints and access sequence of the actuator to minimize the total time, thereby reducing the cycle time of the plane sorting task and improving Improve work efficiency.
  • the first determining module is configured to perform at least one of the following:
  • a second path is determined that has the shortest total time when the end effector visits the plurality of targets in Cartesian linear motion, and the sequence is determined based on the second path.
  • the access sequence can be quickly determined based on multiple methods, that is, path planning can be quickly implemented in multiple ways.
  • the second determining module is configured to perform at least one of the following:
  • the dynamic constraints include at least one of the following:
  • Second-order constraints used to constrain the actuator's acceleration.
  • first-order constraints on velocity can be implemented, and second-order constraints on acceleration can also be implemented, which enriches the constraint conditions.
  • the sending module is configured to send the motion control instruction to the motion controller of the actuator when the interpolation period of the motion control instruction is less than or equal to a predetermined threshold, so as to The motion control instruction is executed by the motion controller; when the interpolation period of the motion control instruction is greater than a predetermined threshold, the motion trajectory of the motion control instruction is interpolated to generate an interpolated motion control instruction, The interpolated motion control instruction is sent to a motion controller of the actuator, so that the motion controller executes the interpolated motion control instruction.
  • a motion planning system for an actuator including:
  • a motion controller configured to control the movement of the actuator
  • the edge device includes a first interface and a second interface
  • the edge device is configured to: determine an order in which end effectors in the actuator access multiple targets in the same plane; receive dynamic constraints of the actuator from the motion controller based on the first interface Conditions; executing motion planning of the actuator based on the sequence and the dynamic constraints; generating motion control instructions of the actuator based on motion planning results, wherein the motion control instructions are adapted to control the actuator. Move so that the total time for the end effector to access the plurality of targets in the same plane in the order is shortest; send the motion control instruction to the motion controller via the second interface.
  • the embodiment of the present invention determines the access sequence of multiple targets, and then plans the optimized motion of the actuator based on the dynamic constraints and access sequence of the actuator to minimize the total time, thereby reducing the cycle time of the plane sorting task and improving Improve work efficiency. Moreover, by integrating with edge computing, the access sequence and motion planning can be independently determined on the edge side, reducing the control workload of the actuator.
  • the edge device is configured to send the motion control instruction to the motion controller of the actuator when the interpolation period of the motion control instruction is less than or equal to a predetermined threshold.
  • the motion control instruction is executed by the motion controller; when the interpolation period of the motion control instruction is greater than a predetermined threshold, the motion trajectory of the motion control instruction is interpolated to generate an interpolated motion control instruction,
  • the interpolated motion control instruction is sent to a motion controller of the actuator, so that the motion controller executes the interpolated motion control instruction.
  • An edge device that includes:
  • the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the motion planning method of the execution mechanism as described in any one of the above.
  • a computer-readable storage medium has computer instructions stored thereon. When the computer instructions are executed by a processor, the motion planning method of an execution mechanism as described in any one of the above items is implemented.
  • a computer program product includes a computer program that implements the motion planning method of an execution mechanism as described in any one of the above items when the computer program is executed by a processor.
  • Figure 1 is a flow chart of a motion planning method of an actuator according to an embodiment of the present invention.
  • FIG. 2 is an exemplary schematic diagram of the motion planning process of the motion planning system according to the embodiment of the present invention.
  • FIG. 3 is a schematic diagram of determining the repair sequence of defects according to an embodiment of the present invention.
  • Figure 4 is a schematic diagram of joint positions, speeds and accelerations according to an embodiment of the present invention.
  • Figure 5 is an exemplary schematic diagram of the movement of the control actuator according to the embodiment of the present invention.
  • Figure 6 is an exemplary structural diagram of a motion planning device of an actuator according to an embodiment of the present invention.
  • Figure 7 is an exemplary structural diagram of an edge device according to an embodiment of the present invention.
  • the embodiment of the present invention optimizes the target access sequence, and combines the dynamic constraints of the actuator with the target access sequence, and also optimizes the motion planning of the actuator.
  • the embodiments of the present invention into edge devices that interact with the motion control system, a flexible and safe actuator motion planning and control scheme can be realized.
  • Figure 1 is a flow chart of a motion planning method of an actuator according to an embodiment of the present invention.
  • the motion planning method 100 of an actuator includes:
  • Step 101 Determine the order in which the end effectors in the actuator access multiple targets in the same plane.
  • the actuator may be an actuator of a robot or any other automated equipment suitable for performing plane sorting tasks.
  • Robots can include industrial robots, service robots, and special robots, among others.
  • Industrial robots include multi-joint manipulators or multi-degree-of-freedom machine devices that are widely used in the industrial field. They have a certain degree of automation and can rely on their own power energy and control capabilities to achieve various industrial processing and manufacturing functions.
  • the arm of the industrial robot body generally adopts a spatial open-chain linkage mechanism.
  • the kinematic pair (rotating pair or moving pair) is often called a joint.
  • the number of joints is usually the number of degrees of freedom of the industrial robot.
  • the relevant parts of the industrial robot body are often called the base, waist, arm, wrist, hand (gripper or end effector) and walking part (for mobile robots).
  • End effectors usually refer to tools that are connected to the ends (joints) of the robot and have certain functions.
  • the end effector may include a robot gripper, a robot tool quick changer, a robot collision sensor, a robot rotary connector, a robot pressure tool, a compliance device, a robot spray gun, a robot deburring tool, a robot arc welding gun, and a robot electric welding gun.
  • robot actuators can be divided into rectangular coordinate type, cylindrical coordinate type, polar coordinate type and joint coordinate type.
  • the robot's actuator can make the robot move with the help of power components according to the command signal sent by the control system.
  • a robot's actuator can include servo motors for joints and mechanical links between joints, etc.
  • Multiple targets in the same plane can have multiple implementations depending on the specific task. For example, in the defect repair application of flat wooden boards, multiple targets are multiple defects on the same flat wooden board. In steel plate laser drilling applications, multiple targets are multiple holes cut in the steel plate.
  • metrics can be used to address this sequencing issue.
  • metrics may include: the total distance of the path to visit multiple targets on the plane (visited and only once) or the total time to visit multiple targets in Cartesian linear motion, etc.
  • step 101 includes:
  • the candidate path is used as the first path, and then the order in which the end effector accesses multiple targets is determined based on the target access sequence in the first path.
  • Step 102 Determine the dynamic constraints of the actuator.
  • step 102 determines the dynamic constraints of the actuator including:
  • the dynamic constraints of the actuator can be obtained through a wireless interface or a wired interface with the motion controller of the actuator.
  • the dynamic constraints of the actuator can be obtained through the wireless interface with the cloud.
  • the dynamic constraints include at least one of the following: a first-order constraint for constraining the speed of the actuator; a second-order constraint for constraining the acceleration of the actuator.
  • the planning constraints can be expressed as generalized first-order constraints, where the generalized first-order constraints are as follows:
  • q is the position vector of the joint; is the velocity vector of the joint; is the acceleration vector of the joint;
  • a v (q) is the first variable coefficient that depends on q;
  • f v (q) is the second variable coefficient that depends on q;
  • l v (q) is the first-order variable coefficient that depends on q Restrictions.
  • the joint speed limits can be determined.
  • the Cartesian speed limit of the end-effector can also be determined based on the first-order constraints used to constrain the speed of the end-effector.
  • the planning constraints can be expressed as generalized second-order constraints, where the generalized second-order constraints are as follows:
  • A(q) is the third variable coefficient that depends on q; T is the transpose operation symbol; B(q) is the fourth variable coefficient related to the speed vector of the joint; f(q) is the variable coefficient that depends on q.
  • the fifth variable coefficient of l(q) is a second-order constraint that depends on q. Based on the second-order constraints used to constrain the acceleration of the actuator, the joint acceleration limits can be determined. Similarly, the Cartesian acceleration limit of the end-effector can also be determined based on the second-order constraints used to constrain the acceleration of the end-effector.
  • M(q) is the inertia matrix; is the Coriolis force and centripetal force matrix; g(q) is the gravity vector; ⁇ is the joint torque vector.
  • A(q) M(q)
  • B(q) C(q)
  • f(q) g(q)
  • l(q) corresponds to the constraint composed of the joint torque vector ⁇
  • Conditions upper limit of ⁇ and lower limit of ⁇ .
  • the problem can then be transformed into an optimization problem, which can be solved using various optimization tools such as qpsolver.
  • These constraints can be combined together (e.g., joint velocities and joint accelerations) and treated as different constraints in the optimization problem.
  • the determined motion planning solution needs to meet these constraints.
  • Step 103 Execute the motion planning of the actuator based on sequence and dynamic constraints.
  • motion planning is performed on the actuator based on sequence and dynamic constraints. That is, on the premise that the dynamic constraints are met, the movement of the actuator is planned so that the total time for the end effector to access multiple targets in the plane in the order determined in step 101 is the shortest.
  • the planned movement of the actuator can include the following curves of each joint (and/or end effector): (1), time-related position curve; (2), time-related speed curve; (3) ), time-related acceleration curve; (4), time-related torque curve, etc.
  • Step 104 Generate motion control instructions for the actuator based on the motion planning results, where the motion control instructions are adapted to control the movement of the actuator so that the total time for the end effector to sequentially access multiple targets in the same plane is the shortest.
  • the generated motion control instruction can carry at least one of the following: (1) joint position; (2) joint position with joint velocity; (3) joint position with velocity and acceleration, and so on.
  • the motion control instructions for controlling the joints of the actuator may also include motion control instructions for the end effector (for example, a tool installed on the actuator).
  • the end effector can be started or stopped as the actuator moves, which is accomplished by applying a constant force on the Z-axis of the actuator.
  • the repair tool can be started before reaching the defect point or stopped after passing the defect point.
  • Step 105 Send motion control instructions.
  • step 105 includes:
  • the motion control instruction is sent to the motion controller of the actuator, so that the motion controller executes the motion control instruction.
  • FIG. 2 is an exemplary schematic diagram of the motion planning process of the motion planning system according to the embodiment of the present invention.
  • the motion planning system includes: a motion controller 12, configured to control the movement of the actuator 13; an edge device 11, including a first interface 18 and a second interface 30; wherein the edge device 11 is configured to: determine the end in the actuator 13 The sequence in which the actuator accesses multiple targets in the same plane; receiving the dynamic constraints of the actuator 13 from the motion controller 12 based on the first interface 18; executing the motion planning of the actuator 13 based on the sequence and the dynamic constraints; based on the motion planning results Generate motion control instructions for the actuator 13 , wherein the motion control instructions are adapted to control the motion of the actuator 13 so that the total time for the end effector to access multiple targets sequentially in the same plane is the shortest; move to the actuator 13 via the second interface 30
  • the controller 12 sends motion control instructions.
  • the edge device 11 is configured to send the motion control instruction to the motion controller 12 of the execution mechanism 13 to be executed by the motion controller 12 when the interpolation period of the motion control instruction is less than or equal to a predetermined threshold.
  • Motion control instructions In one embodiment, the edge device 11, when the interpolation period of the motion control instruction is greater than a predetermined threshold, interpolates the motion trajectory of the motion control instruction to generate an interpolated motion control instruction, and converts the interpolated motion control instruction The instruction is sent to the motion controller 12 of the actuator 13 so that the motion controller 12 executes the interpolated motion control instruction.
  • the vision system 10 takes a photo of the board and performs a defect detection process 14 based on the photo of the board to determine the coordinates of each defect in the plane of the board.
  • the vision system 10 provides the coordinates of each defect in the plane of the board to the edge device 11 .
  • the edge device 11 uses the coordinates of each defect in the plane of the board to execute the sequence determination process 15 (for example, determine the default starting point of the end effector, and then determine the shortest total distance candidate path that visits all defects in sequence from the default starting point , and then determine the sequence of accessing the defects based on the candidate paths) to determine the sequence of repairing these defects by the end effector (usually a glue spray gun) in the actuator 13 .
  • the sequence determination process 15 for example, determine the default starting point of the end effector, and then determine the shortest total distance candidate path that visits all defects in sequence from the default starting point , and then determine the sequence of accessing the defects based on the candidate paths
  • the motion controller 12 of the actuator 13 provides the first interface 18 of the edge device 11 with the dynamic constraints of the actuator 13 (such as the position limit of each joint, the speed limit of each joint, and the speed limit of each joint) through its own status interface 33.
  • acceleration limit Cartesian position limit of the end effector, Cartesian speed limit of the end effector, Cartesian acceleration limit of the end effector, etc.
  • the dynamic constraint acquisition process 17 sends the dynamic constraints of the actuator 13 to the motion planning process 16 .
  • the motion planning process 16 plans the movement of the actuator 13 based on the sequence provided by the sequence determination process 15 and the dynamic constraints of the actuator 13 to determine the execution when the total time for the actuator 13 to access all defects in sequence in the plane is the shortest.
  • Motion parameters of mechanism 13 include: the time-related position curve of each joint, the time-related velocity curve of each joint, the time-related acceleration curve of each joint, the time-related torque curve of each joint, A time-dependent position profile of the end effector, a time-dependent velocity profile of the end effector, a time-dependent acceleration profile of the end effector, and so on.
  • the motion control instruction generation process 19 determines that the interpolation period of the planned motion parameters of the actuator 13 is less than or equal to the predetermined threshold, the motion control instruction generation process 19 carries the planned motion parameters of the actuator 13 in the generated motion control Instructions.
  • the motion control instruction generation process 19 sends the motion control instruction to the instruction receiving interface 31 of the motion controller 12 via the second interface 30 .
  • the instruction receiving interface 31 sends motion control instructions to the motion control core 132 .
  • the motion control core 32 executes the motion control instruction, thereby controlling the movement of the actuator 13 so that the end effector accesses multiple defects in sequence. Among them, when each defect is reached, the end effector starts to perform defect repair work.
  • the dynamic constraint acquisition process 19 interpolates the planned motion trajectory of the motion parameters of the actuator 13 to generate interpolation The supplemented motion control instructions.
  • the motion control instruction generation process 19 sends the interpolated motion control instruction to the instruction receiving interface 31 of the motion controller 12 via the second interface 30 .
  • the instruction receiving interface 31 sends the interpolated motion control instruction to the motion control core 32 .
  • the motion control core 32 executes the interpolated motion control instructions, thereby controlling the movement of the actuator 13 so that the end effector accesses multiple defects in sequence.
  • the motion control instruction generation process 19 determines that the interpolation period of the planned motion parameters of the actuator 13 is greater than the predetermined threshold, the motion control instruction generation process 19 does not interpolate the planned motion parameters of the actuator 13 , but Carry it in the motion control instruction.
  • the motion control instruction generation process 19 sends the motion control instruction to the instruction receiving interface 31 of the motion controller 12 via the second interface 30 .
  • the instruction receiving interface 31 sends motion control instructions to the motion control core 32 .
  • the motion control core 32 determines that the interpolation period of the motion parameters of the execution mechanism 13 carried in the motion control instruction is greater than a predetermined threshold.
  • the motion control core 32 interpolates the motion trajectory of the motion parameters of the actuator 13 to generate an interpolated motion control instruction, and executes the interpolated motion control instruction, thereby controlling the movement of the actuator 13 so that the end effector follows the Access multiple defects sequentially.
  • FIG. 3 is a schematic diagram of determining the order of repairing defects according to an embodiment of the present invention. As shown in Figure 3, 20 defects are randomly generated on a two-dimensional plane, represented as points. The order of accessing these points is determined according to the embodiment of the present invention, and the path connecting these points is determined by the access order.
  • Figure 4 is a schematic diagram of joint positions, speeds and accelerations according to an embodiment of the present invention.
  • the planned motion curves of the first joint (X-axis of the frame) and the second joint (Y-axis of the frame) are drawn, including the position curve 41 of the first joint, the position curve 42 of the second joint, The speed curve 43 of the first joint, the speed curve 44 of the second joint, the acceleration curve 45 of the first joint and the acceleration curve 46 of the second joint.
  • the speed of the first joint and the second joint is within the joint speed constraint range (less than 0.8m/s)
  • the acceleration of the first joint and the second joint is also within the joint acceleration constraint range (less than 1.2m/s 2 )).
  • Table 1 is a schematic table comparing the embodiment of the present invention with the greedy algorithm.
  • the greedy algorithm the next closest target is always visited and connected with Cartesian linear motion (straight line motion). It can be seen from Table 1 that for 20 defects, the embodiment of the present invention can reduce the cycle time (for example, the time required to repair all defects) by 29%.
  • a sequence determination process is first performed: this process is used to determine the access sequence of the target received from the vision system (for example, the detected position on the wooden board). Then, execute the dynamic constraint acquisition process: This process is used to obtain the dynamic constraints of the actuator from the motion control system of the actuator through the status interface, where the dynamic constraints can include joint position limits, joint speed limits, joint acceleration limits, and end execution The Cartesian position limit of the end effector, the Cartesian speed limit of the end effector, the Cartesian acceleration limit of the end effector, and so on.
  • a motion planning process is performed: This process is used to plan motion that satisfies a given target access sequence and dynamic constraints, with the goal of improving cycle times by driving the actuators to their limits.
  • the motion control instruction generation process is executed: this process is responsible for generating motion control instructions and sending the motion control instructions to the motion control system to drive the actuator.
  • Motion control instructions can be used to control an actuator or end effector (for example, a tool mounted on the actuator).
  • Figure 5 is an exemplary schematic diagram of the movement of the control actuator according to the embodiment of the present invention.
  • the six-axis robot includes a bottom joint 22, a shoulder joint 23, an elbow joint 24, a first wrist joint 25, a second wrist joint 26 and a third wrist joint 26.
  • An end effector is arranged on the third wrist joint 26.
  • the shoulder joint 23, the elbow joint 24, the first wrist joint 25, the second wrist joint 26 and the third wrist joint 26 are non-bottom joints.
  • the bottom joint 22, the shoulder joint 23, the elbow joint 24, the first wrist joint 25, the second wrist joint 26 and the third wrist joint 26 each have their own degrees of freedom.
  • the bottom joint 22 is arranged on the bracket 21; the shoulder joint 23 is connected in series to the bottom joint 22; the elbow joint 24 is connected in series to the shoulder joint 23; the first wrist joint 25 is connected in series to the elbow joint 24; the second wrist joint 26 is connected in series to the first wrist joint 25 ; The third wrist joint 26 is connected in series to the second wrist joint 26.
  • the robot controller 20 arranged outside the six-axis robot has a Profinet connection with the bottom joint 22 .
  • the bottom joint 22, the shoulder joint 23, the elbow joint 24, the first wrist joint 25, the second wrist joint 26 and the third wrist joint 26 are jointly connected to the CAN bus inside the six-axis robot.
  • Robot controller 20 is connected to edge device 28 .
  • Edge device 28 is connected to vision system 29 .
  • the vision system 29 takes photos of the board and performs defect detection processing based on the photos of the board to determine the coordinates of each defect in the plane of the board.
  • the vision system 29 provides the coordinates of each defect in the plane of the board to the edge device 28 .
  • the edge device 28 uses the coordinates of each defect in the plane of the board to determine the order in which the end effector on the third wrist joint 26 accesses the multiple defects in the board. Based on this order and the dynamic constraints of the six-axis robot, the edge device 28 determines the sequence of the six-axis robot.
  • Motion execution planning generates motion control instructions for the six-axis robot based on the planning results.
  • the motion control instructions control the motion of the six-axis robot so that the total time for the end effector to access multiple defects sequentially in the plank plane is the shortest.
  • the edge device 28 sends motion control instructions to the robot controller 20, and the robot controller 20 executes the motion control instructions.
  • Figure 6 is an exemplary structural diagram of a motion planning device of an actuator according to an embodiment of the present invention. As shown in Figure 6, device 600 includes:
  • the first determination module 601 is configured to determine the order in which the end effector in the execution mechanism accesses multiple targets in the same plane;
  • the second determination module 602 is configured to determine the dynamic constraints of the actuator
  • the motion planning module 603 is configured to execute motion planning of the actuator based on sequence and dynamic constraints
  • the instruction generation module 604 is configured to generate motion control instructions for the actuator based on the motion planning results, where the motion control instructions are adapted to control the actuator to access multiple targets sequentially in the same plane in the shortest total time;
  • the sending module 605 is configured to send motion control instructions.
  • the first determination module 601 is configured to perform at least one of the following: determine the first path with the shortest total distance for the end effector to access multiple targets, and determine the order based on the first path; determine when the end effector executes The second path that takes the shortest total time to access multiple targets in Cartesian linear motion, and the order is determined based on the second path.
  • the second determination module 602 is configured to perform at least one of the following: obtaining dynamic constraints from the motion controller of the actuator via an interface with the motion controller of the actuator; obtaining from the cloud Dynamic constraints.
  • the dynamic constraints include at least one of the following: a first-order constraint for constraining the speed of the actuator; a second-order constraint for constraining the acceleration of the actuator.
  • the sending module 605 is configured to send the motion control instruction to the motion controller of the actuator when the interpolation period of the motion control instruction is less than or equal to a predetermined threshold, so that the motion controller executes the motion control instruction. ; When the interpolation period of the motion control instruction is greater than the predetermined threshold, interpolate the motion trajectory of the motion control instruction to generate the interpolated motion control instruction, and send the interpolated motion control instruction to the motion controller of the actuator , so that the motion controller executes the interpolated motion control instructions.
  • FIG. 7 is an exemplary structural diagram of an edge device according to an embodiment of the present invention.
  • the edge device 700 includes a processor 701, a memory 702, and a computer program stored on the memory 702 and executable on the processor 701.
  • the computer program is executed by the processor 701, any of the above execution mechanisms are implemented. motion planning method.
  • the memory 702 can be implemented as various storage media such as electrically erasable programmable read-only memory (EEPROM), flash memory (Flash memory), programmable programmable read-only memory (PROM), etc.
  • EEPROM electrically erasable programmable read-only memory
  • flash memory Flash memory
  • PROM programmable programmable read-only memory
  • the processor 701 may be implemented to include one or more central processing units or one or more field programmable gate arrays, where the field programmable gate array integrates one or more central processing unit cores.
  • the central processing unit or central processing unit core may be implemented as a CPU, an MCU, a DSP, or the like.
  • each step is not fixed and can be adjusted as needed.
  • the division of each module is only for the convenience of describing the functional division. In actual implementation, one module can be implemented by multiple modules, and the functions of multiple modules can also be implemented by the same module. These modules can be located on the same device. , or it can be on a different device.
  • the hardware modules in various embodiments may be implemented mechanically or electronically.
  • a hardware module may include specially designed permanent circuits or logic devices (such as a dedicated processor such as an FPGA or ASIC) to perform specific operations.
  • Hardware modules may also include programmable logic devices or circuits (eg, including general-purpose processors or other programmable processors) temporarily configured by software to perform specific operations.
  • programmable logic devices or circuits eg, including general-purpose processors or other programmable processors

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Abstract

Procédé de planification de trajectoire pour un actionneur (13), le procédé comprenant : la détermination d'une séquence dans laquelle un effecteur terminal dans un actionneur (13) accède à une pluralité d'objets dans le même plan ; la détermination d'une condition de contrainte dynamique de l'actionneur (13) ; l'exécution d'une planification de trajectoire de l'actionneur (13) sur la base de la séquence et de la condition de contrainte dynamique ; la génération d'une instruction de commande de mouvement de l'actionneur (13) sur la base du résultat de planification de trajectoire, l'instruction de commande de mouvement étant conçue pour commander le mouvement de l'actionneur (13), de telle sorte que le temps total passé par l'effecteur terminal à accéder séquentiellement à la pluralité d'objets dans le même plan est le plus court ; et l'envoi de l'instruction de commande de mouvement. Le procédé peut optimiser le temps de cycle d'une tâche de séquençage plane, améliorer l'efficacité de fonctionnement, et peut également être intégré à l'informatique à la frontière ; et une séquence d'accès et une planification de trajectoire sont déterminées de manière autonome sur un côté de bord, ce qui permet de réduire la charge de travail de commande d'un actionneur. La présente demande fournit en outre un appareil et un système de planification de trajectoire pour un actionneur, et un support d'enregistrement.
PCT/CN2022/116361 2022-08-31 2022-08-31 Procédé, appareil et système de planification de trajectoire pour actionneur, et support d'enregistrement WO2024045091A1 (fr)

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WO2017139613A1 (fr) * 2016-02-11 2017-08-17 Massachusetts Institute Of Technology Planification de mouvement pour systèmes robotiques
CN110531773A (zh) * 2019-09-12 2019-12-03 北京极智嘉科技有限公司 机器人路径调度方法、装置、服务器及存储介质
CN111805542A (zh) * 2020-07-09 2020-10-23 上海有个机器人有限公司 仓储舱机械臂移动控制方法及装置
CN113741486A (zh) * 2021-11-05 2021-12-03 中国科学院自动化研究所 基于多约束的空间机器人智能运动规划方法及系统

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WO2017139613A1 (fr) * 2016-02-11 2017-08-17 Massachusetts Institute Of Technology Planification de mouvement pour systèmes robotiques
CN106020189A (zh) * 2016-05-24 2016-10-12 武汉科技大学 基于邻域约束的空地异构机器人系统路径规划方法
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