Robot joint space point-to-point movement trajectory planning method

A trajectory planning method for point-to-point motion in robot joint space, comprising the steps of:

• step 1:
• determining the number n of axes based on the type of a robot, constructing an n-dimensional space with each axis of the robot as a vector, where n≥2, and defining a generalized virtual axis in the n-dimensional space to describe the vector relation among the n axes of the robot, wherein the generalized virtual axis is a vector in the n-dimensional space, which is determined by a starting point and a target point of the PTP motion of the robot;
• step 2:
• determining the displacement of each axis of the robot based on the starting point and the target point of the PTP motion of the robot, which is respectively recorded as S1, S2, . . . , Sn;
• and calculating the motion displacement Sunite corresponding to the generalized virtual axis:
• Sunite=(S12+S22+ . . . +Sn2)1/2
• step 3:
• calculating physical quantities of motion parameters corresponding to the generalized virtual axis, i.e. the maximum velocity, the maximum acceleration and the maximum jerk allowed by a system during the motion of the robot, based on preset constraints on physical quantities of motion parameters of each axis of the robot;
• step 4:
• verifying the physical quantities of the motion parameters of the generalized virtual axis by back projection using an n-dimensional space projection method based on the vector relation among the n axes of the robot determined by the starting point and the target point of the PTP motion of the robot so as to judge whether each axis can satisfy the preset constraints on the physical quantities of the motion parameters:
• calculating the projection of the physical quantities of the motion parameters of the generalized virtual axis in each dimension of the n-dimensional space based on the vector relation determined by the current PTP motion;
• if the projection in a certain dimension cannot satisfy the preset physical quantities of the motion parameters of the axis, recalculating actual physical quantities of motion parameters corresponding to the generalized virtual axis based on the parameter constraints;
• and if all axes can satisfy the preset physical quantities of the motion parameters, obtaining actual physical quantities of motion parameters of the generalized virtual axis;
• step 5:
• planning the motion displacement of the generalized virtual axis by a trajectory planning module in a robot control system based on the actual physical quantities of the motion parameters of the generalized virtual axis obtained through verification;
• and
• step 6:
• after the trajectory planning of the generalized virtual axis is completed, performing orthographic projection by the n-dimensional space projection method based on the vector relation among all axes determined by the PTP motion of the robot so as to obtain a component of a motion curve of the generalized virtual axis in each dimension of the n-dimensional space, i.e. a motion curve of each axis of the robot.