Robot joint space point-to-point movement trajectory planning method
US11103996B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 14, 2017 |
| Grant date | Aug 31, 2021 |
| Priority date | — |
| Expiry date | Sep 12, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40519
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.