CN107756397B - Method and device for adjusting robot track - Google Patents
Method and device for adjusting robot track Download PDFInfo
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- CN107756397B CN107756397B CN201710765703.7A CN201710765703A CN107756397B CN 107756397 B CN107756397 B CN 107756397B CN 201710765703 A CN201710765703 A CN 201710765703A CN 107756397 B CN107756397 B CN 107756397B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
The invention discloses a method and a device for adjusting a robot track. Wherein, the method comprises the following steps: acquiring an incidence relation between a robot track and a corresponding Bezier curve; adjusting the shape of the corresponding Bezier curve according to a preset condition; and adjusting the track of the robot according to the adjusted shape of the Bezier curve. The invention solves the technical problems of complex, time-consuming and non-intuitive robot track adjustment caused by the fact that the track needs to be regenerated or manually adjusted and cannot be edited in real time when the robot track is adjusted.
Description
Technical Field
The invention relates to the field of robot simulation, in particular to a method and a device for adjusting a robot track.
Background
In the field of robot simulation, after a track is generated by off-line programming, some post-processing is often performed on track points in the track.
For example, sometimes some of the robot's trajectory points exceed the working limits of the robot, which requires corresponding adjustments to be made to those trajectory points of the robot. Existing solutions are to regenerate the track or to manually adjust the track points, however, this wastes a lot of time and effort.
In addition, when a user needs the track of the robot to partially satisfy a certain shape and also needs the track to mathematically satisfy certain smoothness, the prior art cannot provide a scheme capable of locally editing the track.
Therefore, in the field of robot simulation, an interactive editing system and method capable of simply and intuitively editing a trajectory shape in real time are particularly important.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a method and a device for adjusting a robot track, which at least solve the technical problems of complex, time-consuming and non-intuitive robot track adjustment caused by the fact that the track needs to be regenerated or manually adjusted and cannot be edited in real time when the robot track is adjusted.
According to an aspect of an embodiment of the present invention, there is provided a method of adjusting a trajectory of a robot, including: acquiring an incidence relation between a robot track and a corresponding Bezier curve; adjusting the shape of the corresponding Bezier curve according to a preset condition; and adjusting the track of the robot according to the adjusted shape of the Bezier curve.
Further, acquiring the association relationship between the robot track and the corresponding bezier curve includes: the robot trajectory is mapped to a corresponding bezier curve.
Further, the method comprises mapping the robot's environment objects and work objects into a coordinate system in which the respective bezier curve is located, wherein the shape of the respective bezier curve is adjusted by changing parameters of nodes on the respective bezier curve.
Further, the predetermined conditions include at least: the environmental object influences the robot trajectory; the parameters at least include: a displacement of the node, an angle, wherein adjusting the shape of the respective bezier curve comprises, if the environmental object affects the robot trajectory, changing at least one of the displacement and the angle of the node on the respective bezier curve, adjusting the shape of the respective bezier curve to avoid the environmental object.
Further, the predetermined conditions include at least: the working object exceeds the working limit of the robot; the parameters at least include: a displacement of the node, an angle of the node, wherein adjusting the shape of the respective bezier curve comprises changing at least one of the displacement and the angle of the node on the respective bezier curve if the work object exceeds the working limit of the robot, adjusting the shape of the respective bezier curve to bring the robot trajectory to the work object.
Further, the predetermined conditions include at least: the track of the robot partially does not meet the preset shape; the parameters at least include: a displacement of the node, an angle of the node, wherein adjusting the shape of the respective bezier curve comprises, if the robot trajectory does not locally meet the predetermined shape, changing at least one of the displacement and the angle of the node on the respective bezier curve, locally adjusting the respective bezier curve to the predetermined shape.
Further, acquiring the association relationship between the robot track and the corresponding bezier curve includes: mapping the robot track to a three-dimensional curve of the robot track, and associating a local curve of the three-dimensional curve with a corresponding Bezier curve, so that the corresponding Bezier curve is linked with the local curve; wherein, the shape of adjusting corresponding bezier curve includes, selects predetermined track point and neighborhood point on the local curve, changes the displacement of predetermined track point on the local curve to adjust the shape of corresponding bezier curve to predetermined shape.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for adjusting a trajectory of a robot, including: the association unit is configured to acquire an association relation between the robot track and the corresponding Bezier curve; a shape adjusting unit configured to adjust a shape of the respective bezier curve according to a predetermined condition; and a trajectory adjusting unit configured to adjust the robot trajectory according to the adjusted shape of the bezier curve.
Further, the association unit comprises a mapping unit configured to map the robot trajectory to a respective bezier curve.
Further, the mapping unit is further configured to map the environmental object and the work object of the robot into a coordinate system in which the respective bezier curve is located, wherein the shape adjustment unit is configured to adjust the shape of the respective bezier curve by changing parameters of nodes on the respective bezier curve.
Further, the predetermined conditions include at least: the environmental object influences the robot trajectory; the parameters at least include: displacement of a node, angle, wherein the shape adjustment unit is configured to: if the environmental object affects the robot trajectory, at least one of a displacement and an angle of a node on the corresponding Bezier curve is changed, and a shape of the corresponding Bezier curve is adjusted to avoid the environmental object.
Further, the predetermined conditions include at least: the working object exceeds the working limit of the robot; the parameters at least include: displacement of a node, angle, wherein the shape adjustment unit is configured to: and if the working object exceeds the working limit of the robot, changing at least one of the displacement and the angle of the node on the corresponding Bezier curve, and adjusting the shape of the corresponding Bezier curve to enable the robot track to reach the working object.
Further, the predetermined conditions include at least: the track of the robot partially does not meet the preset shape; the parameters at least include: displacement of a node, angle, wherein the shape adjustment unit is configured to: if the robot trajectory does not locally satisfy the predetermined shape, at least one of a displacement and an angle of a node on the corresponding Bezier curve is changed to locally adjust the corresponding Bezier curve to the predetermined shape.
Further, the associating unit comprises a mapping unit configured to map the robot trajectory to a three-dimensional curve of the robot trajectory and associate a local curve of the three-dimensional curve with a corresponding bezier curve such that the corresponding bezier curve is linked with the local curve; wherein the shape adjusting unit is configured to select a predetermined locus point on the local curve and its neighborhood point, change the displacement of the predetermined locus point on the local curve, and thereby adjust the shape of the corresponding bezier curve to a predetermined shape.
In the embodiment of the invention, the aim of adjusting the robot track is achieved by adopting a mode of associating the robot track with the corresponding Bezier curve and adjusting the shape of the corresponding Bezier curve, so that the technical effect of simply, timely and intuitively adjusting the robot track is realized, and the technical problems of complexity, time consumption and invisibility in robot track adjustment caused by the fact that the track needs to be regenerated or manually adjusted and cannot be edited in real time when the robot track is adjusted are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a method of adjusting a trajectory of a robot in accordance with an embodiment of the invention;
FIG. 2 is a schematic diagram of an apparatus for adjusting a trajectory of a robot according to an embodiment of the present invention;
FIG. 3 illustrates a specific example of a method of adjusting a trajectory of a robot based on a Bezier curve according to an embodiment of the present invention;
fig. 4 illustrates a specific example of a method of adjusting a trajectory of a robot based on bezier curves according to another embodiment of the present invention; and
fig. 5 is a specific example illustrating a method of adjusting a trajectory of a robot based on a bezier curve according to another embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with embodiments of the present invention, there are provided embodiments of a method and apparatus for adjusting a trajectory of a robot based on bezier curves, it is noted that the steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Example 1
Fig. 1 is a method for adjusting a trajectory of a robot based on bezier curves according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
and S102, acquiring the association relation between the robot track and the corresponding Bezier curve.
The robot track refers to the motion track of a robot end tool or a part in space when the robot completes a certain task, and the robot track consists of discrete points.
Correlating the shape of the curve with the trajectory based on Bezier curves in the set of computations, all the requirements of curve manipulation can be achieved with many good mathematical properties of Bezier curves. For example, a curve is added by utilizing the subdivision property of the Bezier curve, the adjustment freedom degree is increased, the curve subdivided by the Bezier curve is still the Bezier curve, and the consistency of operation is ensured; the shape of the curve is changed by utilizing the control vector of the Bezier curve, and the shape of the curve can be controllably changed by adjusting the length and the direction of the control vector; the functionality of the curve is ensured by utilizing the closure property of the Bezier curve, the Bezier curve can be completely surrounded by the closure formed by the control vertexes of the Bezier curve, and the uniqueness of mapping is ensured by limiting the intersection of the closures of adjacent Bezier curves to be null; by keeping the geometric continuity between the nodes of the adjacent Bezier curves, the curve bending degrees at two sides of the nodes can be independently adjusted, so that the degree of freedom of adjustment is improved; the operation is simple and convenient, and the user only needs the mouse to carry out four operations of adding points, deleting points, dragging control vertexes and dragging node vectors on the curve to achieve the aim of controlling the curve.
And step S104, adjusting the shape of the corresponding Bezier curve according to a preset condition.
The predetermined condition may be determined according to the user's needs, and may be, for example, whether the robot trajectory satisfies a certain shape, whether the robot trajectory is affected by an obstacle, whether the robot trajectory can reach a position where an object on which the robot trajectory works, and the like.
The shape of the corresponding bezier curve can be changed by simply dragging the set control point.
And step S106, adjusting the track of the robot according to the adjusted shape of the Bezier curve.
The shape of the bezier curve is adjusted to the shape desired by the user, which indicates that the robot trajectory corresponding to the shape satisfies the user's needs. According to the incidence relation between the Bezier curve and the robot track, the adjusted robot track can be calculated according to the shape of the adjusted Bezier curve, and therefore the current robot track is adjusted to be the calculated robot track.
Through the steps, the robot track can be simply, visually and in real time adjusted, and time and energy of technicians are saved.
Optionally, the obtaining the association relationship between the robot trajectory and the corresponding bezier curve includes: the robot trajectory is mapped to a corresponding bezier curve.
Optionally, the method further comprises mapping the robot's environment objects and work objects into a coordinate system in which the respective bezier curve is located, wherein the shape of the respective bezier curve is adjusted by changing parameters of nodes on the respective bezier curve.
The environmental object of the robot includes any object or living thing near the robot motion trajectory, for example, a table, a chair, a person, an animal, a flower, and the like. The work object of the robot includes any object on which the robot performs an operation when completing a certain task, for example, the robot needs to complete a task of wiping a table, and the table is the work object of the robot.
The nodes on the Bezier curve can be set according to the needs, and the shape of the Bezier curve can be changed by dragging the nodes.
Optionally, the predetermined conditions include at least: environmental objects affect the robot trajectory; the parameters at least include: a displacement of the node, an angle, wherein adjusting the shape of the respective bezier curve comprises, if the environmental object affects the robot trajectory, changing at least one of the displacement and the angle of the node on the respective bezier curve, adjusting the shape of the respective bezier curve to avoid the environmental object.
The trajectory of the environmental object affecting the robot may indicate that the environmental object blocks the travel of the robot, for example, during the robot performing a sweeping task, there are obstacles (e.g., table and chair, toys, etc.) on its travel path.
Optionally, the predetermined conditions include at least: the working object exceeds the working limit of the robot; the parameters at least include: a displacement of the node, an angle of the node, wherein adjusting the shape of the respective bezier curve comprises changing at least one of the displacement and the angle of the node on the respective bezier curve if the work object exceeds the working limit of the robot, adjusting the shape of the respective bezier curve to bring the robot trajectory to the work object.
The working object exceeding the working limit of the robot may refer to the working object deviating from the moving track of the robot, so that the robot cannot reach the working object and cannot complete a corresponding task on the working object. For example, the robot needs to perform the task of wiping the table, but the table is out of reach of the robot, and the robot will not be able to complete the task of wiping the table.
Optionally, the predetermined conditions include at least: the track of the robot partially does not meet the preset shape; the parameters at least include: displacement, angle of the nodes, wherein adjusting the shape of the respective bezier curve comprises, if the robot trajectory does not locally meet the predetermined shape. At least one of the displacement and the angle of the node on the corresponding bezier curve is changed to locally adjust the corresponding bezier curve to a predetermined shape.
The predetermined shape may be determined according to the user's needs.
Optionally, the obtaining the association relationship between the robot trajectory and the corresponding bezier curve includes: mapping the robot track to a three-dimensional curve of the robot track, and associating a local curve of the three-dimensional curve with a corresponding Bezier curve, so that the corresponding Bezier curve is linked with the local curve; wherein, the shape of adjusting corresponding bezier curve includes, selects predetermined track point and neighborhood point on the local curve, changes the displacement of predetermined track point on the local curve to adjust the shape of corresponding bezier curve to predetermined shape.
The local track of the robot is adjusted to be in an expected shape by directly adjusting the displacement of the preset track point on the local curve of the three-dimensional curve of the robot track, and the operation is simple and visual. The adjusted robot trajectory can be easily calculated by the bezier curve linked with the local curve.
Example 2
Fig. 2 is an apparatus for adjusting a trajectory of a robot based on bezier curves according to an embodiment of the present invention, as shown in fig. 2, the apparatus including:
an association unit 202 configured to obtain an association relationship between the robot trajectory and the corresponding bezier curve.
The robot track refers to the motion track of a robot end tool or a part in space when the robot completes a certain task, and the robot track consists of discrete points.
Correlating the shape of the curve with the trajectory based on Bezier curves in the set of computations, all the requirements of curve manipulation can be achieved with many good mathematical properties of Bezier curves. For example, a curve is added by utilizing the subdivision property of the Bezier curve, the adjustment freedom degree is increased, the curve subdivided by the Bezier curve is still the Bezier curve, and the consistency of operation is ensured; the shape of the curve is changed by utilizing the control vector of the Bezier curve, and the shape of the curve can be controllably changed by adjusting the length and the direction of the control vector; the functionality of the curve is ensured by utilizing the closure property of the Bezier curve, the Bezier curve can be completely surrounded by the closure formed by the control vertexes of the Bezier curve, and the uniqueness of mapping is ensured by limiting the intersection of the closures of adjacent Bezier curves to be null; by keeping the geometric continuity between the nodes of the adjacent Bezier curves, the curve bending degrees at two sides of the nodes can be independently adjusted, so that the degree of freedom of adjustment is improved; the operation is simple and convenient, and the user only needs the mouse to carry out four operations of adding points, deleting points, dragging control vertexes and dragging node vectors on the curve to achieve the aim of controlling the curve
A shape adjusting unit 204 configured to adjust a shape of the respective Bezier curve according to a predetermined condition.
The predetermined condition may be determined according to the user's requirement, and may be, for example, whether the robot trajectory satisfies a certain shape, whether the robot trajectory is affected by an obstacle, whether the robot trajectory can reach a position where an object on which the robot trajectory works, and the like.
The shape of the corresponding bezier curve can be changed by simply dragging the set control point
A trajectory adjustment unit 206 configured to adjust the robot trajectory according to the adjusted shape of the bezier curve.
The shape of the bezier curve is adjusted to the shape desired by the user, which indicates that the robot trajectory corresponding to the shape satisfies the user's needs. According to the incidence relation between the Bezier curve and the robot track, the adjusted robot track can be calculated according to the shape of the adjusted Bezier curve, and therefore the current robot track is adjusted to be the calculated robot track.
Through the device, the simple, real-time and visual adjustment of the track of the robot can be realized, and the time and the energy of technicians are saved.
Optionally, the associating unit comprises a mapping unit configured to map the robot trajectory to the respective bezier curves.
Optionally, the mapping unit is further configured to map the environmental object and the work object of the robot into a coordinate system in which the respective bezier curve is located, wherein the shape adjusting unit is configured to adjust the shape of the respective bezier curve by changing parameters of nodes on the respective bezier curve.
The environmental object of the robot includes any object or living thing near the robot motion trajectory, for example, a table, a chair, a person, an animal, a flower, and the like. The work object of the robot includes any object on which the robot performs an operation when completing a certain task, for example, the robot needs to complete a task of wiping a table, and the table is the work object of the robot.
The nodes on the Bezier curve can be set according to the needs, and the shape of the Bezier curve can be changed by dragging the nodes.
Optionally, the predetermined conditions include at least: the environmental object influences the robot trajectory; the parameters at least include: displacement of a node, angle, wherein the shape adjustment unit is configured to: if the environmental object affects the robot trajectory, at least one of a displacement and an angle of a node on the corresponding Bezier curve is changed, and a shape of the corresponding Bezier curve is adjusted to avoid the environmental object.
The trajectory of the environmental object affecting the robot may indicate that the environmental object blocks the travel of the robot, for example, during the robot performing a sweeping task, there are obstacles (e.g., table and chair, toys, etc.) on its travel path.
Optionally, the predetermined conditions include at least: the working object exceeds the working limit of the robot; the parameters at least include: displacement of a node, angle, wherein the shape adjustment unit is configured to: and if the working object exceeds the working limit of the robot, changing at least one of the displacement and the angle of the node on the corresponding Bezier curve, and adjusting the shape of the corresponding Bezier curve to enable the robot track to reach the working object.
The working object exceeding the working limit of the robot may refer to the working object deviating from the moving track of the robot, so that the robot cannot reach the working object and cannot complete a corresponding task on the working object. For example, the robot needs to perform the task of wiping the table, but the table is out of reach of the robot, and the robot will not be able to complete the task of wiping the table.
Optionally, the predetermined conditions include at least: the track of the robot partially does not meet the preset shape; the parameters at least include: displacement of a node, angle, wherein the shape adjustment unit is configured to: if the robot trajectory does not locally meet the predetermined shape. At least one of the displacement and the angle of the node on the corresponding bezier curve is changed to locally adjust the corresponding bezier curve to a predetermined shape.
The predetermined shape may be determined according to the user's needs.
Optionally, the associating unit comprises a mapping unit configured to map the robot trajectory to a three-dimensional curve of the robot trajectory and associate a local curve of the three-dimensional curve with a corresponding bezier curve, such that the corresponding bezier curve is linked with the local curve; wherein the shape adjusting unit is configured to select a predetermined locus point on the layout curve and its neighborhood points, change the displacement of the predetermined locus point on the local curve, and thereby adjust the shape of the corresponding bezier curve to a predetermined shape.
The local track of the robot is adjusted to be in an expected shape by directly adjusting the displacement of the preset track point on the local curve of the three-dimensional curve of the robot track, and the operation is simple and visual. The adjusted robot trajectory can be easily calculated by the bezier curve linked with the local curve.
Example 3
The method for adjusting the trajectory of the robot based on the bezier curve according to an embodiment of the present invention is described in detail below with reference to fig. 3.
Firstly, discrete motion tracks of the robot in the actual space are subjected to interval mapping and mapped to a Bezier curve. As shown in fig. 3 (a), the horizontal axis maps with the trajectory of the robot, and the vertical axis maps with [ -R, R ], where R is specified by the user, for example, R represents a displacement, an angle, or the like.
As shown in fig. 3 (a), the bezier curve of the robot trajectory map is a straight line 301 extending along the horizontal axis at the time of initialization, and the straight line has both end points indicating the range of the section.
Fig. 3 (B) shows a robot trajectory state diagram obtained by mapping obstacles and the like in the robot environment to the coordinate system of the bezier curve as well.
As shown in fig. 3 (B), a bezier curve 301 representing the robot motion trajectory extends through an obstacle a, i.e., the obstacle a affects the work or motion of the robot. In this case, the movement locus of the robot needs to be adjusted so that the movement locus of the robot avoids the obstacle A, B, C, D, E, F.
Fig. 3 (C) shows a schematic diagram in which the point on the bezier curve 301 is adjusted to change the curve shape.
As shown in fig. 3 (C), a point P2 is selected between the end points P1 and P3, and the shape of the curve can be changed by dragging the point P2 up, down, left, and right. Wherein, the endpoints P1 and P3 can move up and down. The bezier curve 301 is tangent to points P1, P2, and P3, and the tangent L is tangent toP1-P11There is a free end point P11, tangent LP21-P22There are free end points P21 and P22, tangent line LP3-P31There is a free end point P31 where the free ends do not coincide or the tangents do not intersect during movement of point P2.
As can be seen from (C) of fig. 3, the adjusted bezier curve 301 has avoided the obstacle A, B, C, D, E, F. This indicates that the adjusted corresponding robot trajectory also avoids the obstacle A, B, C, D, E, F. At this time, the trajectory of the robot in the real space can be calculated from the adjusted bezier curve 301 in fig. 3 (C) by using the mapping relationship between the curve and the robot trajectory.
In the robot track adjustment based on the Bezier curve, the curve can be controlled only by adding points on the Bezier curve and dragging the node vectors, so that the robot track adjustment method is simple and visual, and time is saved.
The case where an obstacle exists on the movement locus of the robot is described above with reference to fig. 3. Usually, there may also be a working object whose motion trajectory cannot reach the robot to perform an operation, which also requires adjusting the motion trajectory of the robot, so that the motion trajectory of the robot can reach the working object, and the adjustment method is similar to the above method, and is not described herein again.
Example 4
A method for adjusting a robot trajectory based on a bezier curve according to another embodiment of the present invention is described in detail below with reference to fig. 4.
Fig. 4 (a) shows an initial state of a three-dimensional graph of a robot trajectory, in which a solid line around the outer periphery of the upper surface of the cube indicates the trajectory of the robot, and points on the solid line indicate track points. Note that the three-dimensional curve of the robot trajectory shown in fig. 4 (a) is obtained by mapping the motion trajectory in the actual space of the robot.
If the user needs the trajectory to locally satisfy a certain shape, for example, the shape of the gaussian-like distribution curve shown in (B) of fig. 4, the local curve of the three-dimensional curve of the robot trajectory may be first associated with the corresponding bezier curve, for example, the local curve of the three-dimensional curve of the robot trajectory may be associated with the bezier curve of the shape shown in (C) of fig. 4, so that the bezier curve of the shape shown in (C) of fig. 4 is linked with the local curve of the three-dimensional curve of the robot trajectory.
As shown in fig. 4 (B), a certain trajectory point P0 on a partial curve of a three-dimensional curve of the robot trajectory is selected, and a neighborhood point P of the P0 point is designated01、P02、P03、P04、P05、P06、P07、P08、P09、P10The adjustment of the shape of the local trajectory can be completed by only changing the displacement of the trajectory point P0 and adjusting the shape of the curve.
Since the local curve of the three-dimensional curve of the robot trajectory in (B) of fig. 4 is associated with the corresponding bezier curve in (C) of fig. 4, the neighborhood point P0 point can be calculated from the corresponding bezier curve in (C) of fig. 4, with only the displacement of the trajectory point P0 being known01、P02、P03、P04、P05、P06、P07、P08、P09、P10So as to calculate the adjusted motion track of the robot in the actual space.
It can be seen that, for the expected shape of the local track of the robot, only simple track point displacement needs to be carried out on the local curve of the three-dimensional curve of the robot track, the track points can be adjusted in real time, and the operation is quite simple and visual. Since the local curve of the robot trajectory is associated with the bezier curve, the adjusted local curve mathematically satisfies a certain smoothness at the same time.
Fig. 5 shows a modification of the method for adjusting the trajectory of the robot based on the bezier curve described in fig. 4. Except that the final adjusted robot track has different local shapes, other operations are the same and are not described herein.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A method of adjusting a trajectory of a robot, comprising:
acquiring an incidence relation between a robot track and a corresponding Bezier curve;
adjusting the shape of the corresponding bezier curve according to a predetermined condition; and
adjusting the robot track according to the adjusted shape of the Bezier curve;
wherein, obtaining the incidence relation between the robot track and the corresponding Bezier curve comprises: mapping the robot trajectory to a three-dimensional curve of the robot trajectory and associating a local curve of the three-dimensional curve with the respective Bezier curve such that the respective Bezier curve is linked with the local curve; wherein adjusting the shape of the corresponding bezier curve comprises selecting a predetermined locus point on the local curve and its neighborhood points, changing the displacement of the predetermined locus point on the local curve, thereby adjusting the shape of the corresponding bezier curve to a predetermined shape, wherein the change of the local curve mathematically satisfies smoothness;
the method further comprises mapping the robot's environmental objects and work objects into a coordinate system in which the respective bezier curve is located, wherein the shape of the respective bezier curve is adjusted by changing parameters of nodes on the respective bezier curve;
wherein the predetermined conditions include at least: the environmental object affects the robot trajectory; the parameters at least include: a displacement, an angle, of the node, wherein adjusting the shape of the respective Bezier curve comprises, if the environmental object affects the robot trajectory, changing at least one of the displacement and the angle of the node on the respective Bezier curve, the shape of the respective Bezier curve being adjusted to avoid the environmental object.
2. The method of claim 1,
the predetermined conditions include at least: the working object exceeds the working limit of the robot;
wherein adjusting the shape of the respective Bezier curve comprises changing at least one of a displacement and an angle of a node on the respective Bezier curve if the work object exceeds a work limit of the robot, the shape of the respective Bezier curve being adjusted to bring the robot trajectory to the work object.
3. The method of claim 1,
the predetermined conditions include at least: the robot track does not partially satisfy a predetermined shape;
wherein adjusting the shape of the respective Bezier curve comprises, if the robot trajectory does not locally satisfy a predetermined shape, changing at least one of a displacement and an angle of a node on the respective Bezier curve to locally adjust the respective Bezier curve to the predetermined shape.
4. An apparatus for adjusting a trajectory of a robot, comprising:
the association unit is configured to acquire an association relation between the robot track and the corresponding Bezier curve;
a shape adjusting unit configured to adjust a shape of the respective bezier curve according to a predetermined condition; and
a trajectory adjustment unit configured to adjust the robot trajectory according to the adjusted shape of the bezier curve;
wherein the associating unit comprises a mapping unit configured to map the robot trajectory to a three-dimensional curve of the robot trajectory and to associate a local curve of the three-dimensional curve with the respective Bezier curve such that the respective Bezier curve is linked with the local curve;
wherein the shape adjusting unit is configured to select a predetermined locus point on the local curve and its neighborhood points, change the displacement of the predetermined locus point on the local curve, and thereby adjust the corresponding bezier curve to a predetermined shape, wherein the change of the local curve mathematically satisfies smoothness;
the mapping unit is further configured to map an environmental object and a work object of the robot into a coordinate system in which the respective bezier curve is located, wherein the shape adjusting unit is configured to adjust the shape of the respective bezier curve by changing parameters of nodes on the respective bezier curve;
wherein the predetermined conditions include at least: the environmental object affects the robot trajectory; the parameters at least include: displacement, angle of the node, wherein the shape adjustment unit is configured to: if the environmental object affects the robot trajectory, changing at least one of a displacement and an angle of a node on the respective Bezier curve, a shape of the respective Bezier curve being adjusted to avoid the environmental object.
5. The apparatus of claim 4,
the predetermined conditions include at least: the working object exceeds the working limit of the robot;
wherein the shape adjustment unit is configured to: if the working object exceeds the working limit of the robot, at least one of the displacement and the angle of the node on the corresponding Bezier curve is changed, and the shape of the corresponding Bezier curve is adjusted to enable the robot track to reach the working object.
6. The apparatus of claim 4,
the predetermined conditions include at least: the robot track does not partially satisfy a predetermined shape;
wherein the shape adjustment unit is configured to: if the robot trajectory does not locally satisfy a predetermined shape, changing at least one of a displacement and an angle of a node on the respective Bezier curve to locally adjust the respective Bezier curve to the predetermined shape.
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| CN108568817B (en) * | 2018-03-13 | 2021-05-11 | 同济大学 | Delta robot track connection control method based on Bezier curve |
| CN109434831B (en) * | 2018-11-12 | 2020-11-27 | 深圳前海达闼云端智能科技有限公司 | Robot operation method and device, robot, electronic device and readable medium |
| CN109391950B (en) * | 2018-11-30 | 2021-10-29 | ***通信集团福建有限公司 | Method, device, equipment and medium for predicting terminal distribution |
| CN109760057A (en) * | 2019-02-25 | 2019-05-17 | 太仓中科信息技术研究院 | The method and computer storage medium of cameras people's path planning |
| CN111331600B (en) * | 2020-03-10 | 2021-04-30 | 库卡机器人制造（上海）有限公司 | Track adjusting method and related equipment |
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