Title:
ROBOT JOINT SPACE POINT-TO-POINT MOVEMENT TRAJECTORY PLANNING METHOD
Document Type and Number:
WIPO Patent Application WO/2018/137432
Kind Code:
A1
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. The method is suitable for industrial robot on-site applications.
Inventors:
JING SHUYI (CN)
FENG RIYUE (CN)
WANG JIHU (CN)
XIA ZHENGXIAN (CN)
PAN TINGTING (CN)
WU BO (CN)
FENG RIYUE (CN)
WANG JIHU (CN)
XIA ZHENGXIAN (CN)
PAN TINGTING (CN)
WU BO (CN)
Application Number:
PCT/CN2017/116112
Publication Date:
August 02, 2018
Filing Date:
December 14, 2017
Export Citation:
Assignee:
NANJING ESTUN ROBOTICS CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN107263484A | 2017-10-20 | |||
| CN104090492A | 2014-10-08 | |||
| CN105700530A | 2016-06-22 | |||
| CN106863306A | 2017-06-20 | |||
| US20050246062A1 | 2005-11-03 |
Other References:
See also references of EP 3566822A4
Attorney, Agent or Firm:
JIANGSU SUNDY LAW FIRM (CN)
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