Title:
TRAJECTORY PLANNING METHOD AND APPARATUS FOR ROBOT END
Document Type and Number:
WIPO Patent Application WO/2024/041648
Kind Code:
A1
Abstract:
A trajectory planning method for a robot end. The method comprises: performing smooth fitting on several discrete path nodes of a robot end, so as to obtain a planned path of the robot end in a Cartesian space; under a kinematic constraint condition of the Cartesian space of the robot end, according to the planned path, obtaining a planned trajectory of the robot end in the Cartesian space by means of speed planning; obtaining joint nodes of the robot end in a robot joint space according to the planned trajectory of the robot end in the Cartesian space; and under a kinematic constraint condition of each shaft of a robot and according to the joint nodes, obtaining a planned trajectory of the robot end in the robot joint space. By means of the planning method, the requirement for the position precision of a Cartesian space, the requirement for a kinematic constraint of the motion in the Cartesian space, and the requirement for a kinematic constraint of each shaft of a robot are decoupled, and a planned trajectory meets the requirements, thereby improving the motion performance of the robot. Further provided are a trajectory planning apparatus for a robot end, and a computing device and a computer-readable storage medium.
Inventors:
LU XIAODONG (CN)
Application Number:
PCT/CN2023/115058
Publication Date:
February 29, 2024
Filing Date:
August 25, 2023
Export Citation:
Assignee:
KYLAND TECHNOLOGY CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN115157270A | 2022-10-11 | |||
| CN107571261A | 2018-01-12 | |||
| CN106647282A | 2017-05-10 | |||
| CN108000501A | 2018-05-08 | |||
| CN105500354A | 2016-04-20 | |||
| US6317651B1 | 2001-11-13 |
Attorney, Agent or Firm:
CHINA ZHENGHE INTELLECTUAL PROPERTY AGENCY (CN)
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