Title:
TRAJECTORY VELOCITY PLANNING METHOD AND TRAJECTORY VELOCITY PLANNING DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/068302
Kind Code:
A1
Abstract:
Disclosed are a trajectory velocity planning method and a trajectory velocity planning device. The method comprises: for a designated target trajectory MP, determining a relationship coefficient fi between single-axis acceleration (I) and composite acceleration (II) to obtain (III), wherein M is a start point of the target trajectory MP, and P is an end point of the target trajectory MP; determining the maximum value of the relationship coefficient fi as B; according to the maximum value B of the relationship coefficient fi and the maximum value of the single-axis acceleration (I), calculating the maximum value arm of the composite acceleration (II) to obtain (IV), wherein A is the given maximum acceleration value; and, according to the maximum value arm of the composite acceleration (II) and a given feed speed F, performing velocity planning for the target trajectory MP. By setting the maximum value of the single-axis acceleration (I) as the maximum acceleration A, and thus determining the maximum value arm of the composite acceleration (II), processing efficiency may be improved.
Inventors:
CHEN XIAOYING (CN)
Application Number:
PCT/CN2016/102126
Publication Date:
April 19, 2018
Filing Date:
October 14, 2016
Export Citation:
Assignee:
SHENZHEN A & E SMART INST CO LTD (CN)
International Classes:
G05B19/18
Foreign References:
| CN104678899A | 2015-06-03 | |||
| CN104181860A | 2014-12-03 | |||
| CN103970073A | 2014-08-06 | |||
| CN105892402A | 2016-08-24 | |||
| US20130197688A1 | 2013-08-01 |
Attorney, Agent or Firm:
UNITALEN ATTORNEYS AT LAW (CN)
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