CN110900597B - Jumping motion track planning method with settable vertical height and corner height - Google Patents
Jumping motion track planning method with settable vertical height and corner height Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention relates to a jumping motion track planning method with settable vertical height and bend angle height, which comprises the following steps: 1) Setting the height of a vertical section and the height of a bend angle of jumping according to the starting point and the end point of jumping motion in a Cartesian space; 2) Calculating the total jump height, and acquiring two auxiliary points for planning a jump motion path; 3) Respectively setting the limiting speed, the limiting acceleration and the limiting jerk of the three-section motion trail according to the robot performance, and respectively obtaining the motion parameters of the key points of the three-section motion trail; 4) Calculating the time point of the fusion of the first section of motion track and the second section of motion track and the time point of the fusion of the second section of motion track and the third section of motion track according to the height of the vertical section and the height of the bend angle; 5) And planning a complete jumping motion track by combining the motion parameters of the key points of the three motion tracks and the time point of track fusion. Compared with the prior art, the invention can improve the flexibility of the robot in carrying, picking and picking operation.
Description
Technical Field
The invention relates to a jumping track planning method for carrying, picking and picking operation, in particular to a jumping motion track planning method with settable vertical height and corner height.
Background
The carrying and picking operation is an indispensable flow step in the automatic packaging flow, the task of the carrying and picking operation is to grab, move and place materials from one position to another position, and a general track path comprises three sections: lifting, translating and lowering. Different trajectory planning and path fusion methods will result in different trajectory path shapes and job efficiencies. Programmable industrial robots are often given this task role. In industrial picking, different materials and process flows require the use of different types of industrial robots. For example, for stacking and unstacking of large materials, a stacking dedicated robot or a tandem robot is generally used; for the carrying and picking operation of boxing and boxing of small materials, a parallel robot is often used; some occasions also use cartesian robots or other special handling and picking machines.
When an existing industrial robot processes a track of a jumping motion, the existing industrial robot generally comprises three motion instructions, namely: moveL, moveJ, moveL, wherein MoveL is a rectilinear motion in cartesian space and MoveJ is a joint synchronous motion in joint space. The three motion instructions correspond to three sections of motion tracks, and fusion between the tracks can be realized through parameter setting. The purpose of using MoveJ here is to achieve the most efficient motion performance. However, for the parallel robot, due to the mechanical structure of the parallel robot, the conventional MoveJ instruction cannot be used, the joints of the parallel robot must move in coordination, the path of the TCP at the tail end of the parallel robot is predictable, and the PTP movement which is strictly technically meaningful cannot be realized. The design of the direct jump motion track capable of being parameterized is a mode for solving the picking operation of the parallel robot, and the track design result is also suitable for robots with other structures and types of non-parallel structures. In the existing planning technology, the lengths of the transition sections on two adjacent track sections are the same, 4 control points are required to be inserted in the process of transition planning besides 1 connecting point and 2 transition points, and then the transition trajectory planning is realized by adopting a cubic B-spline curve method. The method for planning the track is complex and inflexible, and cannot be well adapted to carrying and picking operations of different degrees.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a jumping motion track planning method with settable vertical height and corner height.
The purpose of the invention can be realized by the following technical scheme:
a jumping motion track planning method with settable vertical height and corner height is used for planning jumping motion tracks for robot carrying, picking and picking operation, and comprises the following steps:
s1: the starting point and the end point of the jumping motion in the Cartesian space are given, and the height of the vertical section and the height of the bend angle of the jumping motion are set according to the requirements of specific picking applications.
S2: and calculating the total jumping height according to the height of the jumping vertical section and the height of the bend angle, and acquiring two auxiliary points for planning a jumping motion path from the total jumping height, wherein the two auxiliary points comprise a first auxiliary point and a second auxiliary point, the first auxiliary point is the end point of the first section of motion track and is also the start point of the second section of motion track, and the second auxiliary point is the end point of the second section of motion track and is also the start point of the third section of motion track.
S3: and respectively setting the speed limit, the acceleration limit and the jerk limit of the three-segment motion trail according to the robot performance, and respectively obtaining key points of the three-segment motion trail and motion parameters of the key points, including the position, the speed, the acceleration and the jerk corresponding to each time point. The three motion tracks are sequentially jumping up motion, horizontal crossing motion and landing down motion.
Preferably, each motion track is interpolated by using seven piecewise functions, and the correlation coefficients of the seven piecewise functions are obtained from the motion parameters of the key points.
Preferably, the key point of each motion track is eight time points of the seven piecewise functions, the eight time points are determined by the limited speed, the limited acceleration and the limited jerk of each motion track, and the eight time points include time points corresponding to the starting point and the ending point of each motion track.
Preferably, the motion parameters of the key points are obtained by adopting an S-shaped velocity trajectory planning method, the velocity of each time point is constrained by the limited velocity, the acceleration of each time point is constrained by the limited acceleration, and the jerk of each time point is constrained by the limited jerk.
The jerk j, the acceleration a, the velocity v and the position y of each piecewise function are obtained by the following calculation formula:
in the formula, j 0 ，a 0 ，v 0 ，y 0 Initial values of the jerk, the acceleration, the speed and the position of each segment are respectively, and the obtaining expressions of the jerk, the acceleration, the speed and the position of each segment function are as follows:
stage 1:
y 0 ＝0，v 0 ＝0，a 0 ＝0，j 0 ＝j c
stage 2:
y 0 ＝y t1 ，v 0 ＝v t1 ，a 0 ＝a max ，j 0 ＝0
stage 3:
y 0 ＝y t2 ，v 0 ＝v t2 ，a 0 ＝a max ，j 0 ＝-j c
stage 4:
y 0 ＝y t3 ，v 0 ＝v t3 ，a 0 ＝0，j 0 ＝0
stage 5:
y 0 ＝y t4 ，v 0 ＝v t4 ，a 0 ＝0，j 0 ＝j c
stage 6:
y 0 ＝y t5 ，v 0 ＝v t5 ，a 0 ＝-a max ，j 0 ＝0
stage 7:
y 0 ＝y t6 ，v 0 ＝v t6 ，a 0 ＝-a max ，j 0 ＝j c
wherein v is t1 、v t2 、v t3 、v t4 、v t5 、v t6 、y t1 、y t2 、y t3 、y t4 、y t5 、y t6 Respectively the speed and the position, j, corresponding to the corresponding key point of each segment c For a given jerk limit, a max The maximum acceleration that can be achieved by the actual motion determined under the conditions of the allowed limited speed and the allowed limited acceleration is the displacement at the given starting point and the end point.
S4: and calculating the fusion time point of the first section of motion track and the second section of motion track and the fusion time point of the second section of motion track and the third section of motion track according to the height of the vertical section and the height of the bend angle obtained in the step S1.
The acquisition of the time point of the fusion of the first section of motion track and the second section of motion track comprises the following steps:
a1 Obtaining the total height according to the height of the vertical end and the height of the bend angle specified in the step S1, so as to plan and calculate the total movement time of the first section of movement track, that is, the time point corresponding to the end point of the eight time points, and calculating the corresponding movement time according to the height of the bend angle;
a2 Obtaining the total motion time of the second section of motion trail;
a3 Comparing half of the total movement time of the second section of movement track in the step a 2) with the movement time corresponding to the bend angle height in the step a 1), and taking the difference as smaller;
a4 Subtracting the comparison result in the step a 3) from the total motion time of the first motion track calculated in the step a 1), and obtaining the initial time point of the fusion of the first motion track and the second motion track, namely the time point of triggering the second motion track to start motion.
The acquisition of the time point of the fusion of the second section of motion trail and the third section of motion trail comprises the following steps:
b1 Obtaining the total height according to the height of the vertical end and the height of the bend angle specified in the step S1, so as to plan and calculate the total motion time of the second section of motion track, namely the time point corresponding to the end point of the eight time points, and obtaining the motion time corresponding to the height of the bend angle according to the height of the bend angle;
b2 Obtaining the total movement time of the third section of movement track;
b3 Comparing half of the total motion time of the third-section motion track in the step b 2) with the motion time corresponding to the bend angle height in the step b 1), and taking the smaller of the two;
b4 Subtracting the comparison result in the step b 3) from the total motion time of the second motion track calculated in the step b 1), and obtaining the initial time point of the fusion of the second motion track and the third motion track, namely the time point of triggering the third motion track to start motion.
S5: and planning a complete jumping motion track by combining the motion parameters of the key points of the three motion tracks and the time point of track fusion.
After each section of motion track is planned, two timers A, B are respectively allocated to a first section of motion track and a second section of motion track, when the timer A reaches a time point corresponding to the set vertical section height, the timer B is triggered to start executing the planning execution of the second section of motion track, when the motion time of the first section of motion track is finished, the timer A is allocated to the second section of motion track, meanwhile, the timer B is allocated to the third section of motion track, the start is waited, and the two timers are transmitted forwards along with the execution of the motion.
Compared with the prior art, the invention has the following advantages:
1. the invention adopts a parametrizable and adjustable method of the vertical section height and the bend angle height to realize the track planning of the path fusion of the jumping motion belt, and can obtain the jumping motion tracks with different shapes by respectively setting the local motion parameters of different track sections, thereby improving the flexibility of the carrying and picking operation and avoiding the consequence of influencing the carrying and picking effect possibly caused by adopting uniform global motion parameters;
2. the method of the present invention is planned in cartesian space and is not limited to use by industrial robots, but can be used by any machine with appropriate mechanical mechanisms to accomplish the needs of a handling and picking operation.
Drawings
FIG. 1 is a typical carry pick skip motion profile;
FIG. 2 is a flow chart of the method of the present invention;
FIG. 3 is a method for planning each single motion trajectory in the jumping trajectory according to the present invention;
FIG. 4 is a flow chart for solving time points for a given location using a dichotomy;
FIG. 5 is a jump motion trajectory parameterized and fused by the method of the present invention;
FIG. 6 is a diagram of a jumping motion trajectory planned by the method of the present invention;
FIG. 7 is a graph of the movement components of FIG. 6 in the X-axis direction, wherein FIG. 7 (a) is a position curve, FIG. 7 (b) is a velocity curve, FIG. 7 (c) is an acceleration curve, and FIG. 7 (d) is a jerk curve;
fig. 8 is a graph of the movement components in the Z-axis direction of fig. 6, in which fig. 8 (a) is a position curve, fig. 8 (b) is a velocity curve, fig. 8 (c) is an acceleration curve, and fig. 8 (d) is a jerk curve.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in fig. 2, the present invention relates to a jumping motion trajectory planning method with settable vertical height and corner height, which includes the following steps:
Generally, a jumping motion trajectory is composed of three segments, i.e., a jumping-up motion, a horizontal crossing motion and a landing-down motion. The positions are represented by (x, y, z) and the postures are represented by (a, b, c), so that only one freedom degree of the postures is needed for the carrying and picking movement. Without loss of generality, the pose is represented by (x, y, z, a, b, c).
And 2, calculating the total jumping height according to the height of the jumping vertical section and the height of the bending angle, and acquiring two auxiliary points for planning a jumping motion path according to the total jumping height.
And according to the starting point and the end point of the movement, the height of the vertical section and the height of the bend angle of the jump are given, and then the total jump height can be calculated. Then, two auxiliary points for planning the jumping motion path, namely turning points of the track motion direction, are calculated according to the total jumping height.
As shown in FIG. 3, the start and end points of the jump trajectory are known, denoted P respectively 0 (x 0 ，y 0 ，z 0 ，a 0 ，b 0 ，c 0 )、P 3 (x 3 ，y 3 ，z 3 ，a 3 ，b 3 ，c 3 ). According to the height h of the vertical ends at both sides of the jumping track 1 And h 2 And corner heights c1 and c 2 Available auxiliary points:
P 1 (x 0 ，y 0 ，z 0 +h 1 +c 1 ，a 0 ，b 0 ，c 0 )
P 2 (x 3 ，y 3 ，z 3 +h 2 +c 2 ，a 3 ，b 3 ，c 3 )
and 3, setting the speed limit, the acceleration limit and the jerk limit of the three-section motion trail according to the performance of the robot, and acquiring the motion parameters of the key points of the three-section motion trail.
Each motion track is planned by adopting an S-shaped speed curve method, the essence of the motion track is formed by splicing seven piecewise functions, each motion track is formed by splicing seven piecewise functions, and the key point of each motion track is eight time points of the seven piecewise functions, as shown in fig. 3. The jerk j, acceleration a, velocity v, position y of each piecewise function can be obtained by the following calculation formula:
in the formula, j 0 ，a 0 ，v 0 ，y 0 Initial values for jerk, acceleration, velocity, and position for each segment are expressed as follows:
stage 1:
y 0 ＝0，v 0 ＝0，a 0 ＝0，j 0 ＝j c
stage 2:
y 0 ＝y t1 ，v 0 ＝v t1 ，a 0 ＝a max ，j 0 ＝0
stage 3:
y 0 ＝y t2 ，v 0 ＝v t2 ，a 0 ＝a max ，j 0 ＝-j c
stage 4:
y 0 ＝y t3 ，v 0 ＝v t3 ，a 0 ＝0，j 0 ＝0
stage 5:
y 0 ＝y t4 ，v 0 ＝v t4 ，a 0 ＝0，j 0 ＝j c
stage 6:
y 0 ＝y t5 ，v 0 ＝v t5 ，a 0 ＝-a max ，j 0 ＝0
stage 7:
y 0 ＝y t6 ，v 0 ＝v t6 ，a 0 ＝-a max ，j 0 ＝jc
wherein v is t1 ，v t2 ，v t3 ，v t4 ，v t5 ，v t6 ，y t1 ，y t2 ，y t3 ，y t4 ，y t5 ，y t6 For the speed and position, j, corresponding to the corresponding key point of each segment c For a given jerk limit, a max The maximum acceleration that can be achieved by the actual motion determined under the conditions of the allowed limited speed and the allowed limited acceleration is the displacement at the given starting point and the end point.
And 4, calculating the time point of the fusion of the first section of motion track and the second section of motion track and the time point of the fusion of the second section of motion track and the third section of motion track according to the height of the vertical section and the height of the bend angle in the step 1.
When calculating the track fusion time point, not only the vertical section heights of the first and third motion tracks but also the total time of the second motion track are considered. The second motion track participates in the fusion time calculation, which is half of the total time of the path.
When the application corresponding to the height of the corner section needs to be calculated before the fusion time point of the first section of motion track and the second section of motion track is calculated, namely, a position is given at any position on a section of motion track, and the corresponding time is solved, and the solving relation can be expressed by a function t = f (h).
The time t is found by combining an analytical method and a numerical method, and the specific solving method depends on which section of the trajectory in fig. 3 a given h falls on. For those falling in paragraphs 2, 4, 6, one mayAn analytical method is adopted, namely, a primary or secondary function is solved; for the problems falling into the sections 1, 3, 5 and 7, the problem is equivalent to solving a cubic function, and a numerical solution is adopted for solving the problem. The numerical solution method of the present invention employs a dichotomy, and the description of the method is shown in fig. 4. For time dichotomy, use t ceil Representing the upper limit of time in dichotomy, by t floor The lower limit value of time in the dichotomy is represented by t, the intermediate value of the two is taken, and n represents the number of times of dichotomy calculation. The upper and lower limit values of the dichotomy are reduced by trying to calculate the positions corresponding to different t values and comparing the position with a given h. The condition of ending the bisection is that the absolute value of the difference between the position value corresponding to the value t and h is smaller than the threshold value eps, or the number of trial calculation exceeds 10. For the former, the setting of the threshold value eps is set according to the application precision requirement, and can be generally set to 0.1 mm; for the latter, the number of calculations exceeding the allowable is regarded as a calculation failure. The method specifically comprises the following steps:
(1) According to the position values of the 8 key points, it is determined which segment of the 7 segments the designated vertical segment height h falls in, and the corresponding time length of the segment is obtained, and for the ith segment, the corresponding time length is dtraj (i), as shown in fig. 3:
dtraj(1)＝d j ，dtraj(2)＝d a ，dtraj(3)＝d j
dtraj(4)＝d v ，dtraj(5)＝d j ，dtraj(6)＝d a ，dtraj(7)＝dj
(2) For the first calculation, t can be taken ceil ＝dtraj(i)，t floor ＝0，t＝(t ceil +t floor )/2，n＝1。
(3) If the calculation times are less than 10, calling the formula (1), substituting the value t, calculating the value y, namely the position value corresponding to the t time point, and if not, finishing the calculation.
(4) And comparing the difference value between the y value and the height value h of the vertical section with the threshold value eps, and finishing the calculation if the difference value is smaller than the threshold value, wherein the t value at the moment is the corresponding moment point when the track moves to the height h. If the value is larger than the threshold value, updating the upper limit value or the lower limit value of the time: if y > h, thenThe current value of t is given to t ceil Otherwise, assigning t value to t floor 。
(5) According to the updated upper and lower limit values, the value t is re-taken, t = (t) ceil +t floor ) And/2, the count n is self-increased by 1. And (4) entering the step (3).
And 5, synthesizing the motion parameters of the key points of the three sections of motion tracks and the track fusion time to generate a jumping motion track.
Based on the calculation result, when the running time of the first motion track reaches t 1 At the moment, the execution of interpolation calculation of the second section of motion track can be triggered; when the second segment of motion trail still remains t 2 The duration may be the duration of the third segment of motion trajectory interpolation calculation, and finally the skip trajectory shown in fig. 1 is formed. The jumping track planning method is packaged into a motion instruction MoveJump, and due to the fact that the jumping track planning method is planned in a Cartesian space, the method is suitable for machines with different structures, including serial robots and parallel robots.
In order to prove the effectiveness of the method of the present invention, the present embodiment performs actual trajectory planning.
One jumping motion is formed by fusing three paths (1,2,3), the typical track shape is shown in fig. 1, and the path 1 is a left path P 0 P 1 Path 2 is a horizontal path P 1 P 2 Path 3 is the right path P 2 P 3 . Specifying a starting point P for motion in Cartesian space 0 (-0.2,0.0, -0.8,0.0,0.0,0.0) and end point P 3 (0.2,0.0, -0.8,0.0,0.0,0.0). The trajectory parameters are specified as follows: the vertical ends at both sides of the jumping motion are respectively h 1 =0.01 and h 2 =0.01, the corner heights c1=0.02 and c, respectively 2 =0.02, then the first auxiliary point P may be obtained 1 Has coordinates of (-0.2,0.0, -0.77,0.0,0.0,0.0) and the second auxiliary point P 2 Has the coordinates of (0.2,0.0, -0.77,0.0,0.0,0.0). The specified motion parameters are as follows: the maximum allowable speed of movement of path 1 and path 3 is v max [1]=3m/s, maximum allowable acceleration a max [1]＝50m/s 2 Maximum allowable jerkj max [1]＝2000m/s 3 (ii) a The maximum allowable speed v of the movement of the path 2 max [2]=6m/s, maximum allowable acceleration a max [2]＝150m/s 2 Maximum allowable jerk j max [2]＝15000m/s 3 ；
According to the starting point, the end point, the track shape and the motion parameters specified above, the key point data of each segment of the path, namely the motion parameter values corresponding to 8 time points including the starting point and the end point, are calculated. The key point data of path 1, path 2, and path 3 are shown in table 1, table 2, and table 3, respectively.
TABLE 1 Key Point data for Path 1
TABLE 2 Key Point data for Path 2
TABLE 3 Path 3 Key Point data
Calculating path fusion parameters according to the calculation results of the three paths in tables 1 to 3:
vertical segment height h given according to path 1 1 =0.01 and corner height c 1 =0.02, call function t = f (y 1, y 2) compute path 1 at height h 1 At the corresponding time, note that path 1 is from low P in this example 0 Point to high P 1 The point moves. In this embodiment, t _1=f (h) 1 ，c 1 ) =0.0324s, i.e. the movement of path 2 is initiated when path 1 moves by 0.0324 s.
Vertical segment height h given according to path 3 2 =0.01 and corner height c 2 =0.02, call function t = f (y 1, y 2) to calculate path 3 at height h 2 At the corresponding time, note that path 3 is from altitude P in this example 2 Towards the lower position P 3 And (6) moving. In this embodiment, t _2=f (c) 2 ，h 2 ) =0.0459s, i.e. the movement of path 3 is initiated at a time 0.0459s before the end of the movement of path 2.
And synthesizing the calculation results of the key points of the three-segment motion trail, calculating the motion parameters and the fusion time, and interpolating to generate the jumping motion trail. The results of the jumping motion trajectory planning of this example are shown in fig. 6 to 8. As can be seen from fig. 6, the jump trajectory is composed of three segments, the first segment of motion trajectory and the second segment of motion trajectory are fused to form a bend angle, the second segment of motion trajectory and the third segment of motion trajectory are fused to form another bend angle, so that 5 segments of motion trajectories are formed as a result of the fusion, that is, 2 vertical segment motion trajectories, 2 bend angle segment motion trajectories, and 1 horizontal segment motion trajectory on both sides. The jumping motion trajectory is designed to be performed in the X-Z plane (Y = 0), and fig. 7 and 8 show the motion components of the jumping motion trajectory in the X and Z dimensions, respectively, in cartesian space. When the track runs in a vertical section, the component in the X direction is kept unchanged, and the component in the Z direction is changed; when the track runs in a corner segment, the components in the X direction and the Z direction change simultaneously; when the track runs in a horizontal segment, the component in the X direction is changed, the component in the Z direction is kept unchanged, and the motion characteristic of the jump track is verified.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and those skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A jumping motion track planning method with settable vertical height and corner height is used for planning jumping motion tracks for robot carrying, picking and picking operation and is characterized by comprising the following steps:
1) Setting a starting point and an end point of jumping motion in a Cartesian space, and setting the height of a vertical section and the height of a bend angle of jumping according to the requirements of specific picking application;
2) Calculating the total jumping height according to the height of the vertical section and the height of the bend angle of the jumping, and acquiring two auxiliary points for planning a jumping motion path according to the total jumping height;
3) Respectively setting the limiting speed, the limiting acceleration and the limiting jerk of three sections of motion tracks according to the robot performance, and respectively obtaining key points of the three sections of motion tracks and motion parameters of the key points, wherein the three sections of motion tracks are take-off upward motion, horizontal crossing motion and landing downward motion in sequence;
4) Calculating a fusion time point of the first section of motion track and the second section of motion track and a fusion time point of the second section of motion track and the third section of motion track according to the height of the vertical section and the height of the bend angle obtained in the step 1);
5) Combining the motion parameters of the key points of the three motion tracks and the time points of track fusion to plan a complete jump motion track;
the two auxiliary points comprise a first auxiliary point and a second auxiliary point, the first auxiliary point is the end point of a first section of motion track and is also the start point of a second section of motion track, the second auxiliary point is the end point of the second section of motion track and is also the start point of a third section of motion track, each section of motion track is formed by interpolation of seven piecewise functions, correlation coefficients of the seven piecewise functions are obtained by motion parameters of the key points, the key points of each section of motion track are eight time points of the seven piecewise functions, the eight time points are determined by the limiting speed, the limiting acceleration and the limiting acceleration of each section of motion track, and the eight time points comprise time points corresponding to the start point and the end point of each section of motion track;
in the step 4), the obtaining of the time point of the fusion of the first section of motion track and the second section of motion track includes the following steps:
a1 Obtaining the total height according to the height of the vertical end and the height of the bend angle specified in the step 1), thereby planning and calculating the total motion time of the first section of motion track, namely the time point corresponding to the end point of the eight time points, and calculating the corresponding motion time according to the height of the bend angle;
a2 Obtaining the total motion time of the second section of motion trail;
a3 Comparing half of the total motion time of the second section of motion track in the step A2) with the motion time corresponding to the bend angle height in the step A1), and taking the smaller of the two;
a4 Subtracting the comparison result in the step A3) from the total motion time of the first motion track calculated in the step A1), and acquiring a starting time point of the fusion of the first motion track and the second motion track, namely a time point of triggering the second motion track to start motion;
in the step 4), the obtaining of the time point of the fusion of the second section of motion trail and the third section of motion trail includes the following steps:
b1 Obtaining the total height according to the height of the vertical end and the height of the bend angle specified in the step 1), thereby planning and calculating the total motion time of the second section of motion track, namely the time point corresponding to the end point of the eight time points, and obtaining the motion time corresponding to the height of the bend angle according to the height of the bend angle;
b2 Obtaining the total movement time of the third section of movement track;
b3 Comparing half of the total movement time of the third section of movement track in the step B2) with the movement time corresponding to the bend angle height in the step B1), and taking the difference as small as the two;
b4 Subtracting the comparison result in the step B3) from the total motion time of the second section of motion track calculated in the step B1), and acquiring a starting time point of fusion of the second section of motion track and the third section of motion track, namely a time point of triggering the third section of motion track to start motion;
the specific content of the step 5) is as follows:
after each section of motion track is planned, two timers A, B are respectively allocated to a first section of motion track and a second section of motion track, when the timer A reaches a time point corresponding to the set vertical section height, the timer B is triggered to start executing the planning execution of the second section of motion track, when the motion time of the first section of motion track is finished, the timer A is allocated to the second section of motion track, meanwhile, the timer B is allocated to the third section of motion track, the start is waited, and the two timers are transmitted forwards along with the execution of the motion.
2. The method as claimed in claim 1, wherein the motion parameters of the key points include position, velocity, acceleration and jerk corresponding to each time point.
3. The jumping motion trail planning method with settable vertical height and corner angle height according to claim 2, wherein the motion parameters of the key points are obtained by an S-shaped velocity trail planning method, the velocity of each time point is constrained by a limited velocity, the acceleration of each time point is constrained by a limited acceleration, and the jerk of each time point is constrained by a limited jerk.
4. The method as claimed in claim 2, wherein the jerk trajectory planning method is characterized in that jerk j and acceleration of each piecewise function
The alpha, the speed v and the position y are obtained by adopting the following calculation formula:
in the formula, j 0 ，a 0 ，v 0 ，y 0 Initial values of the jerk, the acceleration, the speed and the position of each segment are respectively, and the obtaining expressions of the jerk, the acceleration, the speed and the position of each segment function are as follows:
stage 1:
y 0 ＝0，v 0 ＝0，a 0 ＝0，j 0 ＝j c
stage 2:
y 0 ＝y t1 ，v 0 ＝v t1 ，a 0 ＝a max ，j 0 ＝0
stage 3:
y 0 ＝y t2 ，v 0 ＝v t2 ，a 0 ＝a max ，j 0 ＝-j c
stage 4:
y 0 ＝y t3 ，v 0 ＝v t3 ，a 0 ＝0，j 0 ＝0
stage 5:
y 0 ＝y t4 ，v 0 ＝v t4 ，a 0 ＝0，j 0 ＝j c
stage 6:
y 0 ＝y t5 ，v 0 ＝v t5 ，a 0 ＝-a max ，j 0 ＝0
stage 7:
y 0 ＝y t6 ，v 0 ＝v t6 ，a 0 ＝-a max ，j 0 ＝j c
wherein v is t1 、v t2 、v t3 、v t4 、v t5 、v t6 、y t1 、y t2 、y t3 、y t4 、y t5 、y t6 Respectively the speed and the position, j, corresponding to the corresponding key point of each segment c For a given jerk limit, a max The maximum acceleration achievable for the actual motion determined under the conditions of limited velocity and limited acceleration is the displacement at a given starting point and ending point.
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