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ROBOT JOINT SPACE POINT-TO-POINT MOVEMENT TRAJECTORY PLANNING METHOD
ROBOT JOINT SPACE POINT-TO-POINT MOVEMENT TRAJECTORY PLANNING METHOD
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机译:机器人关节空间点对点运动轨迹规划方法
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摘要
A robot joint space point-to-point movement trajectory planning method. Joint space trajectory planning is performed according to the displacement of a robot from a start point to a target point during PTP movement and a limitation condition of a preset movement parameter physical quantity of each axis in a robot control system. An n-dimensional space is constructed by taking each axis of the robot as a vector, wherein n ≥2, and the movement parameter physical quantity of each axis of the robot is verified according to a vector relationship between the n axes of the robot, so that a trajectory planning curve of each axis of the robot satisfies the limitation condition of the preset movement parameter physical quantity. The method has a small amount of calculations and strong real-time performance, the movement curves are mild, the control time is optimal, and the algorithm execution effect is good.
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