公开(公告)号：US11103996B2

公开(公告)日：2021-08-31

申请号：US16322091

申请日：2017-12-14

申请人： NANJING ESTUN ROBOTICS CO., LTD

发明人： Riyue Feng ,  Jihu Wang ,  Zhengxian Xia ,  Tingting Pan ,  Bo Wu ,  Shuyi Jing

IPC分类号： B25J9/16 ,  G05B19/19

摘要： A robot joint space point-to-point movement trajectory planning method. Joint space trajectory planning is performed according to the displacement of a robot from a start point to a target point during PTP movement and a limitation condition of a preset movement parameter physical quantity of each axis in a robot control system. An n-dimensional space is constructed by taking each axis of the robot as a vector, wherein n≥2, and the movement parameter physical quantity of each axis of the robot is verified according to a vector relationship between the n axes of the robot, so that a trajectory planning curve of each axis of the robot satisfies the limitation condition of the preset movement parameter physical quantity. The method has a small amount of calculations and strong real-time performance, the movement curves are mild, the control time is optimal, and the algorithm execution effect is good.