Title:
CARTESIAN SPACE TRAJECTORY PLANNING METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2024/041647
Kind Code:
A1
Abstract:
A Cartesian space trajectory planning method, comprising: obtaining poses of a plurality of path nodes at the tail end of a multi-axis device, wherein the poses comprise position coordinates of a Cartesian position space and attitude coordinates of a Cartesian attitude space, and the attitude coordinates are represented by three-dimensional continuous Euler angles; performing path fitting on the poses of the path nodes to obtain a planned path of the Cartesian space of the tail end of the multi-axis device; and obtaining a planned trajectory of the Cartesian space according to the poses of path points of the planned path. According to the planning method, the attitude coordinates are represented by using the continuous Euler angles of continuous values, the singular point problem of the conventional Euler angle during interpolation and the discontinuous attitude problem of a quaternion during interpolation are solved, and pose-based continuous planning of the Cartesian space is realized. Also provided are a trajectory planning apparatus, a computing device, and a computer-readable storage medium.
Inventors:
LU XIAODONG (CN)
Application Number:
PCT/CN2023/115052
Publication Date:
February 29, 2024
Filing Date:
August 25, 2023
Export Citation:
Assignee:
KYLAND TECHNOLOGY CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN115179298A | 2022-10-14 | |||
| CN111399514A | 2020-07-10 | |||
| CN107571261A | 2018-01-12 | |||
| CN111611742A | 2020-09-01 | |||
| CN113084821A | 2021-07-09 | |||
| US20210339390A1 | 2021-11-04 |
Attorney, Agent or Firm:
CHINA ZHENGHE INTELLECTUAL PROPERTY AGENCY (CN)
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