Two-stage speed planning method for industrial robot

• Main Authors: LI ZHENHAN, ZHANG YANFEN, MA LEI, HE SHANSHAN
• Format: Patent
• Language: Chinese; English
• Published: 18.10.2022
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention provides a two-stage speed planning method for an industrial robot, and the method comprises the following steps: 1, building a multi-dimensional space trajectory mathematical model: employing a unified parameterization form to express the multi-dimensional space trajectory mathematical model, unifying the motion of the robot into a parameter u, performing trajectory smoothing processing on the original trajectory of the multi-dimensional space to obtain a smoothed parameter trajectory; step 2, acquiring a speed threshold value, an acceleration threshold value and a smoothed parameter track of the robot, and performing speed pre-planning on a parameter u; step 3, trajectory optimization is carried out by combining servo control compensation and trajectory smooth optimization; and step 4, speed optimization after trajectory optimization is carried out, and a parameter trajectory and a parameter u displacement function after speed optimization are obtained. According to the speed planning method,