Self-adapting Trajectory Planning Method Considering Joint Constraints
Chengbao Zhong, Junsong Lei, Xu Liu, Feipeng Hu · 2022
When the robot interpolates the trajectory at high speed, the joint will exceed the constraint due to the constraints of driving mechanism performance and other factors. Based on the analysis of driver constraints, an adaptive trajectory planning method based on joint constraints is proposed. Firstly, maximum ranges of joint velocities in joint space are analyzed in advance by using the look-ahead strategy for speed control. Secondly, a maximum runnable resultant velocity in this path is calculated based on the linear relationship between joint velocity in joint space and path velocity in Cartesian space. Finally, the path velocity in Cartesian space is used for interpolation. The simulation and experimental results show that compared with the traditional method, the proposed Trajectory planning method can give full play to the driving performance of the robot joints while ensuring the real-time performance, taking into account the operating efficiency and constraint requirements of the robot.