Title:
TRAJECTORY PLANNING METHOD AND APPARATUS FOR JOINT SPACE OF MULTI-SHAFT DEVICE
Document Type and Number:
WIPO Patent Application WO/2024/041646
Kind Code:
A1
Abstract:
A trajectory planning method for a joint space of a multi-shaft device. The method comprises: acquiring the coordinates of each joint node of a multi-shaft device in a joint space; under a kinematic constraint condition of each shaft, performing first trajectory planning on each shaft according to the coordinates, so as to obtain a planned time of when each shaft reaches each joint node, and determining a synchronization time of joint nodes according to the planned time; and under the kinematic constraint condition, performing second trajectory planning on each shaft according to the synchronization time and the coordinates, so as to obtain a trajectory of each shaft in the joint space. The planning method is suitable for trajectory planning of various general shafts in a joint space, and under a constraint condition that each shaft of a multi-shaft device conforms to kinematics, each shaft operates synchronously, thereby improving the overall operation performance of the multi-shaft device. Further provided are a trajectory planning apparatus for a joint space of a multi-shaft device, and a computing device and a computer-readable storage medium.
Inventors:
LU XIAODONG (CN)
Application Number:
PCT/CN2023/115044
Publication Date:
February 29, 2024
Filing Date:
August 25, 2023
Export Citation:
Assignee:
KYLAND TECHNOLOGY CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN103853043A | 2014-06-11 | |||
| CN115179299A | 2022-10-14 | |||
| CN107263484A | 2017-10-20 | |||
| CN107186713A | 2017-09-22 | |||
| US20190275675A1 | 2019-09-12 |
Attorney, Agent or Firm:
CHINA ZHENGHE INTELLECTUAL PROPERTY AGENCY (CN)
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