Title:
SIX-DEGREE-OF-FREEDOM ROBOT PATH PLANNING METHOD BASED ON END MOTION ERROR
Document Type and Number:
WIPO Patent Application WO/2018/133439
Kind Code:
A1
Abstract:
The invention discloses a six-degree-of-freedom robot path planning method based on an end motion error, and specifically, a method of accurately planning a continuous path for a robot end portion by combining a screw theory, a cubic spline interpolation algorithm and a particle swarm optimization algorithm. The method comprises: establishing a robot forward-inverse kinematics model based on the screw theory to simplify a computation process; adopting, in a joint space, the cubic spline interpolation algorithm to ensure a smooth motion; and last, utilizing a count of key points as a variable to control an end tracking error within a required range, utilizing respective time intervals as a design variable, and maximum angular velocities, maximum angular accelerations and maximum angular jerks of respective joints as constraints, and optimizing a path by using the minimum tracking error as an optimization target. As a result, the embodiment is employed to obtain, using high planning efficiency, a planned path having a low tracing error and producing a smooth motion.
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Inventors:
LIU ZHIFENG (CN)
XU JINGJING (CN)
ZHAO YONGSHENG (CN)
CAI LIGANG (CN)
YANG CONGBIN (CN)
XU JINGJING (CN)
ZHAO YONGSHENG (CN)
CAI LIGANG (CN)
YANG CONGBIN (CN)
Application Number:
PCT/CN2017/103078
Publication Date:
July 26, 2018
Filing Date:
September 25, 2017
Export Citation:
Assignee:
UNIV BEIJING TECHNOLOGY (CN)
International Classes:
G05B13/04
Foreign References:
| CN106647282A | 2017-05-10 | |||
| CN103235513A | 2013-08-07 | |||
| CN102554938A | 2012-07-11 | |||
| CN105159096A | 2015-12-16 | |||
| CN103909522A | 2014-07-09 | |||
| JP2009297827A | 2009-12-24 |
Attorney, Agent or Firm:
BEIJING SIHAI TIANDA INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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