CN113967917B - Mechanical arm multi-joint track time synchronization method, system and storage medium - Google Patents
Mechanical arm multi-joint track time synchronization method, system and storage medium Download PDFInfo
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- CN113967917B CN113967917B CN202111404154.3A CN202111404154A CN113967917B CN 113967917 B CN113967917 B CN 113967917B CN 202111404154 A CN202111404154 A CN 202111404154A CN 113967917 B CN113967917 B CN 113967917B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application discloses a method, a system and a storage medium for synchronizing track time of multiple joints of a mechanical arm, wherein an angle parameter corresponding to each joint of the mechanical arm is obtained according to an initial pose and a terminal pose of the mechanical arm; inputting the angle parameters and the preset speed parameters of each joint into a preset S-curve planning algorithm, and calculating to obtain initial track parameters corresponding to each joint; obtaining the running time corresponding to each joint according to the initial track parameters; determining the maximum operation time and a first joint corresponding to the maximum operation time according to the operation time; and correcting the initial track parameters corresponding to the joints according to the maximum operation time to obtain corrected track parameters corresponding to the joints, and setting the operation time of each joint as the maximum operation time according to the corrected track parameters. The multi-joint track time synchronization method for the mechanical arm can effectively solve the problem that the motion time of each joint of the mechanical arm is not synchronous.
Description
Technical Field
The application relates to the field of motion control of industrial robots and speed synchronous control of servo motors, in particular to a method and a system for synchronizing time of multi-joint tracks of a mechanical arm and a storage medium.
Background
The joint interpolation function is an important function of a control system of the mechanical arm, and has the effect that the mechanical arm runs from an initial pose to an end pose, and a plurality of joints of the mechanical arm need to run from a specific initial angle to a specific end angle in the running process. In multi-joint motion of a mechanical arm, the difference value of an initial angle and a terminal angle of each joint is generally different, joint interpolation function of the mechanical arm requires that each joint is started at the initial angle and stopped at the terminal angle simultaneously, the traditional mechanical arm usually adopts a classical S-curve planning algorithm, but motion time of each joint of the mechanical arm cannot be synchronized when different angle strokes are planned.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, the application provides a method, a system and a storage medium for synchronizing the track time of multiple joints of a mechanical arm, which can effectively solve the problem that the motion time of each joint of the mechanical arm is not synchronous.
In order to solve the technical problems, the invention provides the following technical scheme:
the embodiment of the first aspect of the application provides a method for synchronizing time of a multi-joint track of a mechanical arm, which comprises the following steps:
obtaining an angle parameter corresponding to each joint of the mechanical arm according to the initial pose and the terminal pose of the mechanical arm;
inputting the angle parameters and the preset speed parameters of each joint into a preset S-curve planning algorithm, and calculating to obtain initial track parameters corresponding to each joint;
obtaining the running time corresponding to each joint according to the initial track parameters;
determining a maximum operation time and a first joint corresponding to the maximum operation time according to the operation time;
and correcting the initial track parameters corresponding to the joints according to the maximum operation time to obtain corrected track parameters corresponding to the joints, and setting the operation time of each joint as the maximum operation time according to the corrected track parameters.
According to the mechanical arm multi-joint track time synchronization method in the embodiment of the first aspect of the application, at least the following beneficial effects are achieved: in the multi-joint track time synchronization method, the angle parameter corresponding to each joint of the mechanical arm is obtained through calculation according to the initial pose and the end pose of the mechanical arm, the preset speed parameter is combined, the initial track parameter of each joint is obtained through calculation of an S-curve planning algorithm, the initial track parameter of each joint is corrected according to the maximum running time determined by the initial track parameter, interpolation is carried out according to the corrected track parameter, the running state of each joint is corrected, the requirement that each joint of the mechanical arm is started and stopped simultaneously is met, the problem that the motion time of each joint of the mechanical arm is not synchronous is solved, and the working efficiency of the mechanical arm is improved.
According to some embodiments of the first aspect of the present application, the initial trajectory parameters comprise velocity trajectory types, the velocity trajectory types comprising a seven-segment velocity trajectory, a five-segment velocity trajectory, a six-segment velocity trajectory, a four-segment velocity trajectory;
the correcting the initial track parameters corresponding to the joints according to the maximum running time to obtain corrected track parameters corresponding to the joints, and setting the running time of each joint as the maximum running time according to the corrected track parameters includes:
judging the speed track type corresponding to the joint of the mechanical arm;
if the speed track type is the seven-segment speed track, correcting the initial track parameter according to the maximum running time and a first correction track formula group to obtain a correction track parameter corresponding to the joint;
if the speed track type is the five-section speed track, correcting the initial track parameter according to the maximum running time and a second correction track formula group to obtain a correction track parameter corresponding to the joint;
if the speed track type is the six-section type speed track, correcting the initial track parameter according to a maximum running time and a third corrected track formula group to obtain a corrected track parameter corresponding to the joint;
and if the speed track type is the four-section speed track, correcting the initial track parameter according to a maximum running time and a fourth correction track formula group to obtain the correction track parameter corresponding to the joint.
According to some embodiments of the first aspect of the present application, the first modified trajectory formula set is specifically:
A＝jm i ；
B＝am i 2 -am i ×jm i ×T max ；
C＝jm i ×am i ×|β i -α i |；
t3 i ′＝t1 i ′；
t5 i ′＝t3 i ′；
t6 i ′＝t2 i ′；
t7 i ′＝t1 i ′；
am i ′＝jm i ×T max ；
wm i ′＝(t1 i ′+t2 i ′)×am i ′；
jm i ′＝jm i ；
P i ′＝P i ；
wherein, T is max Characterizing the maximum runtime, the i characterizing the ith joint, the α i Characterizing an initial angle of the ith joint, said beta i Characterizing the end angle, jm, of the ith joint i 、am i And P i For the initial trajectory parameter, the jm i Characterizing a maximum attainable jerk of the ith joint, am i Characterizing the maximum achievable acceleration of the ith joint, P i Characterizing a velocity trajectory type of an ith joint; v, t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' is the corrected trajectory parameter, t1 i ' characterization of the correction plus acceleration time for the ith Joint, t2 i ' characterise the modified uniform acceleration time for the ith joint, t3 i ' modified acceleration/deceleration time for characterizing ith joint, t4 i ' characterise the modified uniform time for the ith joint, t5 i ' characterization of the modified acceleration-deceleration time for the ith Joint, t6 i ' characterise the modified uniform deceleration time for the ith joint, t7 i ' characterization of the modified deceleration time of the ith Joint, am i ' maximum acceleration can be reached by a correction characterizing the ith joint, wm i ' characterise the maximum speed achievable by the revision of the ith joint, jm i ' characterization of the i-th Joint the modified maximum jerk, P i ' characterize the trajectory type.
According to some embodiments of the first aspect of the present application, the second modified trajectory formula set is specifically:
B＝-T max ；
C＝0；
D＝|β i -α i |；
t2 i ′＝0；
t3 i ′＝t1 i ′；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ′×t1 i ′；
jm i ′＝jm i ；
P i ′＝P i ；
wherein, the T is max Characterizing the maximum runtime, the i characterizing the ith joint, the alpha i Characterizing an initial angle of the ith joint, said beta i Characterizing the end angle, jm, of the ith joint i And P i For the initial trajectory parameter, the jm i Characterizing the maximum attainable jerk of the ith joint, P i Characterizing a velocity trajectory type of an ith joint; t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' is the corrected trajectory parameter, wherein the wm i ' is solved by the Caldan formula, the wm i ' characterise the maximum speed achievable by the revision of the ith joint, t1 i ' characterization of the correction plus acceleration time for the ith Joint, t2 i ' characterise the modified uniform acceleration time for the ith joint, t3 i ' modified acceleration/deceleration time for characterizing ith joint, t4 i ' characterise the modified uniform time for the ith joint, t5 i ' characterization of the modified acceleration-deceleration time for the ith Joint, t6 i ' characterise the modified uniform deceleration time for the ith joint, t7 i ' characterise the modified deceleration time for the ith joint, am i ' maximum acceleration can be reached by a correction characterizing the ith joint, said jm i ' correction to characterize the ith joint can achieve maximum jerk, P i ' characterize the trajectory type.
According to some embodiments of the first aspect of the present application, the third modified trajectory formula set is specifically:
A＝2×T max ；
B＝jm i ×T max 2 ；
C＝4×|β i -α i |×jm i ；
t3 i ′＝t1 i ′；
t4 i ′＝0；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ×T max ；
wm i ′＝(t1 i ′+t2 i ′)×am i ′；
jm i ′＝jm i ；
P i ′＝P i ；
wherein, the T is max Characterizing the maximum runtime, the i characterizing the ith joint, the alpha i Characterizing an initial angle of the ith joint, said beta i Characterizing the end angle, jm, of the ith joint i And P i For the initial trajectory parameter, the jm i Characterizing the maximum attainable jerk of the ith joint, P i Characterizing a velocity trajectory type of an ith joint; t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' As the corrected trajectory parameter, the t1 i ' correction plus acceleration time characterizing ith Joint, t2 i ' characterization of the modified homoacceleration time for the ith Joint, t3 i ' characterization of modified acceleration/deceleration time for i-th Joint, t4 i ' characterise the modified uniform time for the ith joint, t5 i ' characterize the modified accelerative-subtractive time of the ith joint, t6 i ' characterise the modified uniform deceleration time for the ith joint, t7 i ' characterization of the modified deceleration time of the ith Joint, am i ' characterise the maximum acceleration achievable for the modification of the ith joint, wm i ' characterise the maximum speed achievable by the revision of the ith joint, jm i ' correction to characterize the ith joint can achieve maximum jerk, P i ' characterize the trajectory type.
According to some embodiments of the first aspect of the present application, the fourth modified trajectory formula set is specifically:
t2 i ′＝0；
t3 i ′＝t1 i ′；
t4 i ′＝0；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ′×T max ；
wm i ′＝t1 i ′×am i ′；
P i ′＝P i ；
wherein, T is max Characterizing the maximum runtime, the i characterizing the ith joint, the alpha i Characterizing the initial angle of the ith joint, said beta i Characterizing the end angle, P, of the ith joint i For the initial trajectory parameter, P i Characterizing a velocity trajectory type of an ith joint; t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' As the corrected trajectory parameter, the jm i ' the modification characterizing the ith joint can reach the maximum jerk, t1 i ' characterization of the correction plus acceleration time for the ith Joint, t2 i ' characterise the modified uniform acceleration time for the ith joint, t3 i ' modified acceleration/deceleration time for characterizing ith joint, t4 i ' characterise the modified uniform time for the ith joint, t5 i ' characterization of the modified acceleration-deceleration time for the ith Joint, t6 i ' characterise the modified uniform deceleration time for the ith joint, t7 i ' characterization of the modified deceleration time of the ith Joint, am i ' maximum acceleration can be reached by a correction characterizing the ith joint, wm i ' maximum speed of correction characterizing ith Joint, P i ' characterize the trajectory type.
According to some embodiments of the first aspect of the present application, the obtaining an angle parameter corresponding to each joint of the robot arm according to the initial pose and the end pose of the robot arm includes:
and calculating to obtain the angle parameter corresponding to each joint by an inverse solution method according to the initial pose and the terminal pose of the mechanical arm.
According to some embodiments of the first aspect of the present application, the angle parameters comprise an initial angle and an end angle, and the speed parameters comprise a limit speed, a limit acceleration, and a limit jerk.
An embodiment of the second aspect of the present application provides a robot arm control system, including:
at least one memory;
at least one processor;
at least one program;
the programs are stored in the memory, and the processor executes at least one of the programs to implement:
the method for time synchronization of multi-joint tracks of the mechanical arm according to any embodiment of the first aspect of the present application.
In a third aspect, embodiments of the present application provide a computer-readable storage medium, which stores computer-executable signals for performing:
the multi-joint trajectory time synchronization method for the mechanical arm according to any embodiment of the first aspect of the application.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
Additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method for time synchronization of multi-joint trajectories of a robotic arm according to some embodiments of the present disclosure;
fig. 2 is a flow chart of velocity trajectory type determination of a mechanical arm multi-joint trajectory time synchronization method according to some embodiments of the present application;
FIG. 3 is a single joint synchronization diagram of a seven-segment velocity trajectory provided by some embodiments of the present application;
FIG. 4 is a single joint synchronization schematic of a five-segment velocity trajectory provided by some embodiments of the present application;
FIG. 5 is a single joint synchronization schematic of a six-segment velocity trajectory provided by some embodiments of the present application;
FIG. 6 is a single joint synchronization diagram of a four-segment velocity trajectory provided in accordance with some embodiments of the present application;
FIG. 7 is a schematic diagram illustrating an example of a stroke of a method for time synchronization of a multi-joint trajectory of a robotic arm according to some embodiments of the present application;
FIG. 8 is a schematic diagram illustrating another exemplary path of a method for time synchronizing a multi-joint trajectory of a robotic arm according to some embodiments of the present disclosure;
FIG. 9 is a schematic diagram of another example of a travel of a multi-joint trajectory time synchronization method of a robotic arm according to some embodiments of the present application;
FIG. 10 is a schematic diagram of another exemplary stroke of a method for time synchronizing a multi-joint trajectory of a robotic arm according to some embodiments of the present application;
FIG. 11 is a block diagram of a robotic arm control system provided in accordance with some embodiments of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different from that in the flowcharts. The terms etc. in the description and claims and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In the description of the present application, if there are first and second descriptions for distinguishing technical features, the description should not be interpreted as indicating or implying any relative importance or implying any number of indicated technical features or implying any precedence over indicated by the indicated technical features.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions.
Referring to fig. 1, in a first aspect, an embodiment of the present application provides a method for time synchronization of a multi-joint trajectory of a robot arm, including, but not limited to, step S110, step S120, step S130, step S140, and step S150.
Step S110, obtaining an angle parameter corresponding to each joint of the mechanical arm according to the initial pose and the end pose of the mechanical arm;
it can be understood that the initial pose of the mechanical arm is an angle between the position of the mechanical arm and the ith joint of the mechanical arm at the current time, and the terminal pose of the mechanical arm is an angle between the position to be reached by the mechanical arm after operation and the ith joint of the mechanical arm after the mechanical arm reaches the destination point. It should be noted that the initial pose and the end pose of the mechanical arm change with different motion states of the mechanical arm, and are not fixed and unchanged.
Calculating an angle parameter corresponding to each joint by an inverse solution method according to the initial pose and the end pose of the mechanical arm, wherein the number of the joints is n, and the angle parameter refers to an initial angle sequence alpha of all the joints of the mechanical arm 1 ,...,α n And end point angle sequence beta 1 ,...,β n . Specifically, the control system of the mechanical arm can only enable each joint to run to reach a specified angle [ theta ] 1 ,...,θ n ]However, in the application of the mechanical arm, the tail end of the mechanical arm needs to reach a certain designated pose [ P, R ] sometimes]Therefore, an inverse solution method is needed to enable the mechanical arm to reach a specified position to complete a specified attitude, and an inverse solution algorithm ik is characterized as follows:
ik([P,R])＝[θ 1 ,...,θ n ]
the method comprises the following steps that P is represented as the position of the tail end of the mechanical arm, R is represented as the posture of the tail end of the mechanical arm, the input of an inverse solution algorithm is the pose of the tail end of the mechanical arm, the output of the inverse solution algorithm is the angle parameter corresponding to each joint of the mechanical arm, the motor executes the value of the angle parameter corresponding to each joint output by the inverse solution method, and then the mechanical arm moves to the designated pose.
Step S120, inputting the angle parameters and the preset speed parameters of each joint into a preset S-curve algorithm; calculating to obtain an initial track parameter corresponding to each joint;
it can be understood that, in step S120, the velocity parameter of each joint, i.e. the limit velocity Ψ, is given in advance 1 ,...,Ψ n And the limit acceleration omega 1 ,...,Ω n And ultimate jerk 1 ,...Γ n Combining the initial angle and the terminal angle of each joint calculated according to the inverse solution method, and after a classical S-curve trajectory planning algorithm, the initial trajectory parameter, namely acceleration time t1, corresponding to each joint can be solved 1 ,...,t1 n Uniform acceleration time t2 1 ,...,t2 n Acceleration/deceleration time t3 1 ,...,t3 n And uniform speed time t4 1 ,...,t4 n Decreasing the acceleration time t5 1 ,...,t5 n Uniform deceleration time t6 1 ,...,t6 n Decreasing the deceleration time t7 1 ,...,t7 n And can reach the maximum speed wm 1 ,...,vm n Can achieve the maximum acceleration am 1 ,...,am n Can reach the maximum acceleration jm 1 ,...,jm n Velocity trajectory type P 4 ,...,P n 。
Specifically, the operation speed of the mechanical arm is divided into a plurality of speed sections, and because the standard S curve has 4 forms which are respectively a 4-section type, a 5-section type, a 6-section type and a 7-section type, the time delay also has 4 forms, and the speed track type P n Where n can only be 4, 5, 6 or 7, which respectively means that the speed trajectory is a 4-segment trajectory, a 5-segment trajectory, a 6-segment trajectory and a 7-segment trajectory. It should be noted that:
a typical 4-segment S-shaped speed profile includes the following 4 segments: acceleration, deceleration, acceleration, deceleration and deceleration.
A typical 5-segment S-shaped speed profile includes the following 5 segments: acceleration, deceleration, uniform speed, acceleration, deceleration and deceleration.
A typical 6-segment S-shaped speed curve comprises 6 segments of acceleration, uniform acceleration, deceleration, uniform deceleration and deceleration.
A typical 7 segment S-shaped speed profile includes the following 7 segments: acceleration, uniform acceleration, deceleration, uniform speed, acceleration and deceleration, uniform deceleration and deceleration.
Specifically, the S-curve trajectory planning algorithm is a trajectory planning algorithm, and in the application of the robot arm, on the premise of providing a starting point and an end point, the following two situations sometimes occur:
(1) The tail end of the mechanical arm needs to move along a specified path for a stroke, such as a straight path and a circular arc path, and the posture of the tail end of the mechanical arm can be changed while moving, wherein the posture change is equivalent to an angle path;
(2) Simply rotating a joint through an angular path:
if the path is planned by a certain path planning algorithm, the path parameters of each joint are obtained, information of time, speed, acceleration (or jerk) is added to each position point or attitude point of the path, the tail end of the mechanical arm is required to reach the point at the appointed time information, and the position, the speed, the acceleration and the jerk of the point can be obtained through a function expression determined by the path parameters of each joint, and the function expression S is characterized as follows:
[ position (attitude); speed; acceleration; jerk ] = S (time)
Wherein the dependent variable of the functional expression S is time.
Step S130, obtaining the running time corresponding to each joint according to the initial track parameters;
step S140, determining the maximum operation time and a first joint corresponding to the maximum operation time according to the operation time;
it should be noted that the acceleration time t1 of each joint is calculated by an S-curve trajectory planning algorithm 1 ,...,t1 n Uniform acceleration time t2 1 ,...,t2 n Acceleration/deceleration time t3 1 ,...,t3 n And constant speed time t4 1 ,...,t4 n And the acceleration time t5 is reduced 1 ,...,t5 n Uniform deceleration time t6 1 ,...,t6 n And deceleration time t7 1 ,...,t7 n Calculating the total running time corresponding to each joint; assuming a total of n joints, the total run time for joint number 1 is:
T＝t1 1 +t2 1 +t3 1 +t4 1 +t5 1 +t6 1 +t7 1 ；
the total run time for joint No. 2 was:
T＝t1 2 +t2 2 +t3 2 +t4 2 +t5 2 +t6 2 +t7 2 ；
by analogy, the total running time of the joint n is as follows:
T＝t1 n +t2 n +t3 n +t4 n +t5 n +t6 n +t7 n ；
calculating the total operation time of each joint of the mechanical arm and determining the maximum operation time, wherein the maximum operation time is T max And a maximum operation time T is set max The corresponding joint is a first joint, and it should be noted that the mechanical arm multi-joint track time synchronization method of the present application sequentially performs a correction step on each joint, and when the algorithm is executed to the first joint, the correction step is skipped, so that the time synchronization algorithm is sequentially performed on the joints except the first joint, that is, the initial track parameters corresponding to the joints except the first joint are corrected.
Wherein the input of the time synchronization algorithm is the initial trajectory parameters of all joints, i.e. the short-time S-curve trajectory parameters of all joints: acceleration time t1 1 ,...,t1 n Uniform acceleration time t2 1 ,...,t2 n Acceleration/deceleration time t3 1 ,...,t3 n And uniform speed time t4 1 ,...,t4 n And the acceleration time t5 is reduced 1 ,...,t5 n Uniform deceleration time t6 1 ,...,t6 n Decreasing the deceleration time t7 1 ,...,t7 n Maximum achievable velocity wm 1 ,...,wm n Can achieve the maximum acceleration am 1 ,...,am n Can reach the maximum acceleration jm 1 ,...,jm n Velocity trajectory type P 4 ,...,P n 。
Wherein whenThe output of the inter-synchronization algorithm is the corrected trajectory parameters of all joints, i.e. the long-time S curve trajectory parameters of all joints: acceleration time t1 1 ’,...,t1 n ' even acceleration time t2 1 ’,...,t2 n ', acceleration/deceleration time t3 1 ’,...,t3 n ', uniform speed time t4 1 ’,...,t4 n ', decrease acceleration time t5 1 ’,...,t5 n ' uniform deceleration time t6 1 ’,...,t6 n ', deceleration time t7 1 ’,...,t7 n ', maximum attainable speed wm 1 ’,...,wm n ', maximum acceleration am achievable 1 ’,...,am n ', can reach the maximum acceleration jm 1 ’,...,jm n ', velocity trajectory type P 4 ′,...,P n ′。
S150, correcting the initial track parameters corresponding to the joints according to the maximum operation time to obtain corrected track parameters corresponding to the joints, and setting the operation time of each joint as the maximum operation time according to the corrected track parameters;
it is understood that step S150 may further include step S210 and step S220, step S230, step S240 and step S250.
Step S210; judging the speed track type corresponding to the joint of the mechanical arm;
referring to fig. 2, fig. 2 is a flow chart illustrating a speed trajectory type determination method for a multi-joint trajectory time synchronization method of a mechanical arm according to some embodiments of the present disclosure; according to the multi-joint track time synchronization method of the mechanical arm, correspondingly executed algorithms are matched according to speed curves of different joints, and it needs to be noted that if the speed track type is a seven-segment speed track, initial track parameters are corrected according to maximum running time and a first correction track formula group to obtain correction track parameters corresponding to the joints, wherein the first correction track formula group is a seven-segment track time synchronization algorithm; if the speed track type is a five-section speed track, correcting the initial track parameters according to the maximum running time and a second correction track formula set to obtain correction track parameters corresponding to the joints, wherein the second correction track formula set is a five-section track time synchronization algorithm; if the speed track type is a six-section type speed track, correcting the initial track parameters according to the maximum running time and a third corrected track formula set to obtain corrected track parameters corresponding to the joints, wherein the third corrected track formula set is a six-section type track time synchronization algorithm; and if the speed track type is a four-section type speed track, correcting the initial track parameter according to the maximum running time and a fourth correction track formula set to obtain a correction track parameter corresponding to the joint, wherein the fourth correction track formula set is a four-section type track time synchronization algorithm.
And S220, if the speed track type is a seven-section speed track, correcting the initial track parameter according to the maximum running time and a first correction track formula group to obtain a correction track parameter corresponding to the joint.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating single joint synchronization of a seven-segment velocity trajectory according to some embodiments of the present application; the first correction track formula group is specifically as follows:
A＝jm i ；
B＝am i 2 -am i ×jm i ×T max ；
C＝jm i ×am i ×|β i -α i |；
t3 i ′＝t1 i ′；
t5 i ′＝t3 i ′；
t6 i ′＝t2 i ′；
t7 i ′＝t1 i ′；
am i ′＝jm i ×T max ；
wm i ′＝(t1 i ′+t2 i ′)×am i ′；
jm i ′＝jm i ；
P i ′＝P i ；
the first correction track formula group corrects track parameters of the joint in sequence; it should be noted that the mechanical arm has n joints, wherein i represents the ith joint (1 ≦ i ≦ n), and T max Characterizing the maximum run time, α i Initial angle, beta, characterizing the ith joint i Characterizing the end angle, jm, of the ith joint i 、am i And P i As initial trajectory parameter, jm i Characterization of the maximum attainable jerk, am, of the ith joint i Characterise the maximum achievable acceleration, P, of the ith joint i Characterizing a velocity trajectory type of an ith joint; v, t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' for correcting the track parameter, v, A, B and C represent an intermediate variable in the calculation process, without clear physical meaning, t1 i ' correction plus acceleration time for characterizing ith Joint, t2 i ' correction acceleration time for characterization of ith Joint, t3 i ' modified acceleration/deceleration time for characterizing ith Joint, t4 i ' correction Uniform velocity time for characterizing ith Joint, t5 i ' characterization of the modified acceleration-deceleration time of the ith Joint, t6 i ' modified uniform deceleration time for characterizing ith Joint, t7 i ' characterization of modified deceleration time, am, for the ith Joint i ' characterization of the maximum acceleration achievable for the modification of the ith Joint, wm i ' maximum speed of correction, jm, characterizing ith Joint i ' characterization of the i-th Joint the modified maximum jerk, P i ' characterize the trajectory type.
And step S230, if the speed track type is a five-section speed track, correcting the initial track parameter according to the maximum running time and a second correction track formula set to obtain a correction track parameter corresponding to the joint.
It is noted that, referring to fig. 4, fig. 4 is a schematic single-joint synchronization diagram of a five-segment velocity trajectory provided in some embodiments of the present application; the second correction trajectory formula group is specifically as follows:
B＝-T max ；
C＝0；
D＝|β i -α i |；
t2 i ′＝0；
t3 i ′＝t1 i ′；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ′×t1 i ′；
jm i ′＝jm i ；
P i ′＝P i ；
the second correction track formula group corrects the track parameters of the joint in sequence; it should be noted that the mechanical arm has n joints, wherein i represents the ith joint (1 ≦ i ≦ n), and T max Characterizing the maximum run time, α i Initial angle, beta, characterizing the ith joint i Characterizing the end angle, jm, of the ith joint i And P i For the initial trajectory parameter, jm i Characterise the maximum achievable jerk, P, of the ith joint i Characterizing a velocity trajectory type of an ith joint; t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、m i ′、jm i ' and P i ' is a modified trajectory parameter, where wm i ' is solved by the Caldan formula, wm i ' characterize the maximum speed of the ith correction of the ith joint, A, B and C are intermediate variables in the calculation process, have no clear physical meaning, and t1 i ' correction plus acceleration time characterizing ith Joint, t2 i ' characterization of the modified Uniform acceleration time of the ith Joint, t3 i ' modified acceleration/deceleration time for characterizing ith Joint, t4 i ' characterization of the modified Uniform time of the ith Joint, t5 i ' modified accelerative time characterizing ith Joint, t6 i ' characterization of the modified Uniform deceleration time of the ith Joint, t7 i ' characterization of modified deceleration time, am, for the ith Joint i ' maximum acceleration, jm, can be reached by a revision characterizing the ith joint i ' characterization of the i-th Joint the modified maximum jerk, P i ' characterize the trajectory type.
And S240, if the speed track type is a six-section type speed track, correcting the initial track parameter according to the maximum running time and a third corrected track formula group to obtain a corrected track parameter corresponding to the joint.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating single joint synchronization of a six-segment velocity trajectory according to some embodiments of the present application; wherein the third correction trajectory formula group is specifically:
A＝2×T max ；
B＝jm i ×T max 2 ；
C＝4×|β i -α i |×jm i ；
t3 i ′＝t1 i ′；
t4 i ′＝0；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ×T max ；
wm i ′＝(t1 i ′+t2 i ′)×am i ′；
jm i ′＝jm i ；
P i ′＝P i ；
the third correction track formula group corrects the track parameters of the joint in sequence; it should be noted that the mechanical arm has n joints, wherein i represents the ith joint (1 ≦ i ≦ n), and T max Characterizing the maximum run time, α i Initial angle, beta, characterizing the ith joint i Characterizing the end angle, jm, of the ith joint i And P i As initial trajectory parameter, jm i Characterise the maximum achievable jerk, P, of the ith joint i Characterizing the ith JointThe velocity trajectory type of (2); t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' to correct the trajectory parameter, t1 i ' characterization of correction plus acceleration time of the ith joint, alpha, A, B and C are intermediate variables in the calculation process, no clear physical meaning exists, and t2 i ' characterization of the modified Uniform acceleration time of the ith Joint, t3 i ' characterization of modified acceleration/deceleration time for i-th Joint, t4 i ' correction Uniform velocity time for characterizing ith Joint, t5 i ' characterization of the modified acceleration-deceleration time of the ith Joint, t6 i ' modified uniform deceleration time for characterizing ith Joint, t7 i ' characterization of modified deceleration time, am, for the ith Joint i ' characterization of the maximum acceleration achievable for the modification of the ith Joint, wm i ' characterization of the maximum achievable velocity for the revision of the ith Joint, jm i ' maximum jerk, P, can be achieved by a correction characterizing the ith joint i ' characterize the trajectory type.
And step S250, if the speed track type is a four-section speed track, correcting the initial track parameter according to the maximum running time and a fourth corrected track formula set to obtain a corrected track parameter corresponding to the joint.
Referring to fig. 6, fig. 6 is a schematic diagram of single joint synchronization of a four-segment velocity trajectory according to some embodiments of the present application;
the fourth correction trajectory formula group is specifically:
t2 i ′＝0；
t3 i ′＝t1 i ′；
t4 i ′＝0；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ′×T max ；
wm i ′＝t1 i ′×am i ′；
P i ′＝P i ；
the fourth correction track formula group corrects the track parameters of the joint in sequence; it should be noted that the mechanical arm has n joints, wherein i represents the ith joint (1 ≦ i ≦ n), and T max Characterizing the maximum run time, α i Initial angle, beta, characterizing the ith joint i Characterizing the end angle, P, of the ith joint i As an initial trajectory parameter, P i Characterizing a velocity trajectory type of an ith joint; t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' to correct the trajectory parameter, jm i ' maximum jerk, t1, can be reached by a revision that characterizes the ith joint i ' correction plus acceleration time for characterizing ith Joint, t2 i ' correction acceleration time for characterization of ith Joint, t3 i ' characterization of modified acceleration/deceleration time for i-th Joint, t4 i ' correction Uniform velocity time for characterizing ith Joint, t5 i ' modified accelerative time characterizing ith Joint, t6 i ' characterization of the modified Uniform deceleration time of the ith Joint, t7 i ' modified deceleration time, am, characteristic of ith Joint i ' maximum acceleration, wm, can be achieved by correction characterizing the ith joint i ' characterization of the maximum speed achievable for revision of the ith Joint, P i ' characterize the trajectory type.
After the robot arm multi-joint track time synchronization method is executed on the joint, the initial track parameter of the next joint is corrected, and if the next joint is the selected first joint with the maximum running time, the correction step is not executed, and the track parameters of the first joint are not changed.
After the initial track parameters corresponding to the other joints except the first joint are corrected, the running time of each joint is the maximum running time, and the output of the time synchronization algorithm at this time is the long-time S curve track parameter of all the joints: acceleration time t1 1 ’,...,t1 n ' even acceleration time t2 1 ’,...,t2 n ', acceleration/deceleration time t3 1 ’,...,t3 n ', uniform speed time t4 1 ’,...,t4 n ', decreasing acceleration time t5 1 ’,...,t5 n ' uniform deceleration time t6 1 ’,...,t6 n ', deceleration time t7 1 ’,...,t7 n ', maximum attainable speed wm 1 ’,...,wm n ', maximum acceleration am can be reached 1 ’,...,am n ', can reach the maximum acceleration jm 1 ’,...,jm n ', velocity trajectory type P 4 ′,...,P n '. And when the algorithm is completed, inputting the calculated long-time S curve track parameters to an interpolation module, executing interpolation instructions by each joint and transmitting the interpolation instructions to corresponding motors, thereby completing the joint interpolation function of the mechanical arm. The method has the advantages that the joint interpolation function is an important function of a mechanical arm control system, the mechanical arm is enabled to run from an initial pose to a terminal pose, the requirement that a plurality of joints run from a specific initial angle to a specific terminal angle in the running process is met, meanwhile, the joint interpolation function of the mechanical arm requires that all the joints of the mechanical arm are started at the initial angle and stopped at the terminal angle simultaneously, namely, time synchronization is achieved.
More specifically, the motion interpolation of the tail end of the mechanical arm indicates that the pose of each time point needs to be obtained in the mechanical arm, the pose is converted into a joint angle value through an inverse solution method, and the joint angle value is transmitted to a motor to be executed. It can be understood that after the multi-joint track time synchronization method of the mechanical arm is executed, the interpolation module receives the output long-term curve track parameters and executes a joint interpolation function, so that each joint of the mechanical arm can be started and stopped synchronously.
According to one embodiment of the application, 4 angular strokes are synchronized, each of the 4 angular strokes being 100; the 4 limit speeds are set as: 10 10, 40, 40; the 4 limit accelerations are respectively set as: 5, 15, 30; the 4 limit jerks are set to 20, 20, 20, 20;
the 4 angular strokes calculated by the time synchronization algorithm are respectively as follows:
referring to fig. 7, fig. 7 is a schematic diagram illustrating an example of a stroke of a multi-joint trajectory time synchronization method for a robot arm according to some embodiments of the present disclosure; in the present time synchronization algorithm, the first angular travel is the first joint, and the present algorithm takes the total running time of the first angular travel as the maximum running time, that is, the total running times of the joints except the first angular travel after being corrected by the time synchronization algorithm are all changed to the maximum running time of 12.25s.
Referring to fig. 8, fig. 8 is a schematic diagram illustrating another example of the process of the multi-joint trajectory time synchronization method for the robot arm according to some embodiments of the present disclosure; the original time in the second angular stroke was 11.41s, and the time after the time extension after the correction by the time synchronization algorithm was 12.25s.
Referring to fig. 9, fig. 9 is a schematic diagram illustrating another example of the process of the multi-joint trajectory time synchronization method for the robot arm according to some embodiments of the present disclosure; the original time in the third angular travel is 5.96s, and the time after the time extension after the correction of the time synchronization algorithm is 12.25s.
Referring to fig. 10, fig. 10 is a schematic diagram illustrating another example of a process of a multi-joint trajectory time synchronization method for a robot arm according to some embodiments of the present disclosure; the original time in the fourth angular travel is 5.42s, and the time after the time extension after the correction by the time synchronization algorithm is 12.25s.
Therefore, the mechanical arm multi-joint track time synchronization method is reliable in result.
In a second aspect, referring to fig. 11, an embodiment of the present application provides a robot arm control system, including:
at least one memory 200;
at least one processor 100;
at least one program;
the programs are stored in the memory 200, and the processor 100 executes at least one program to implement:
a method for time synchronization of multi-joint trajectories of a robotic arm as in any embodiment of the first aspect of the present application.
The processor 100 and the memory 200 may be connected by a bus or other means.
The memory 200, which is a non-transitory readable storage medium, may be used to store non-transitory software instructions as well as non-transitory executable instructions. Further, the memory 200 may include a high speed random access memory 200, and may also include a non-transitory memory 200, such as at least one magnetic disk storage device 200, flash memory device, or other non-transitory solid state storage device 200. It will be appreciated that the memory 200 may alternatively comprise memory 200 located remotely from the processor 100, and that such remote memory 200 may be coupled to the processor 100 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor 100 executes the non-transitory software instructions, instructions and signals stored in the memory 200, so as to implement various functional applications and data processing, that is, the multi-joint trajectory time synchronization method for the mechanical arm according to the embodiment of the first aspect is implemented.
Non-transitory software instructions and instructions required for implementing the mechanical arm multi-joint trajectory time synchronization method of the above-mentioned embodiment are stored in the memory 200, and when being executed by the processor 100, the mechanical arm multi-joint trajectory time synchronization method of the first aspect of the present application is executed, for example, the method steps S110 to S150 in fig. 1 and the method steps S210 to S250 in fig. 2 described above are executed.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable signals for performing:
the method for time synchronization of multi-joint tracks of the mechanical arm in any embodiment of the first aspect.
For example, the above-described method steps S110 to S150 in fig. 1 and the method steps S210 to S250 in fig. 2 are performed.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the 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 network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
From the above description of embodiments, those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, or suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable signals, data structures, instruction modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer-readable signals, data structures, instruction modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present application.
Claims (9)
1. A multi-joint track time synchronization method for a mechanical arm is characterized by comprising the following steps:
obtaining an angle parameter corresponding to each joint of the mechanical arm according to the initial pose and the terminal pose of the mechanical arm;
inputting the angle parameters and the preset speed parameters of each joint into a preset S-curve planning algorithm, and calculating to obtain initial track parameters corresponding to each joint;
obtaining the running time corresponding to each joint according to the initial track parameters;
determining a maximum operation time and a first joint corresponding to the maximum operation time according to the operation time;
correcting the initial track parameters corresponding to the joints according to the maximum running time to obtain corrected track parameters corresponding to the joints, and setting the running time of each joint as the maximum running time according to the corrected track parameters;
the initial track parameters comprise speed track types, and the speed track types comprise seven-section speed tracks, five-section speed tracks, six-section speed tracks and four-section speed tracks;
the correcting the initial track parameters corresponding to the joints according to the maximum running time to obtain corrected track parameters corresponding to the joints, and setting the running time of each joint as the maximum running time according to the corrected track parameters includes:
judging the speed track type corresponding to the joint of the mechanical arm;
if the speed track type is the seven-segment speed track, correcting the initial track parameter according to the maximum running time and a first correction track formula group to obtain a correction track parameter corresponding to the joint;
if the speed track type is the five-section speed track, correcting the initial track parameter according to the maximum running time and a second correction track formula group to obtain a correction track parameter corresponding to the joint;
if the speed track type is the six-section type speed track, correcting the initial track parameter according to a maximum running time and a third corrected track formula group to obtain a corrected track parameter corresponding to the joint;
and if the speed track type is the four-section speed track, correcting the initial track parameter according to a maximum running time and a fourth correction track formula group to obtain the correction track parameter corresponding to the joint.
2. The multi-joint trajectory time synchronization method of the mechanical arm according to claim 1, wherein the first correction trajectory formula group is specifically:
A＝jm i ；
B＝am i 2 -am i ×jm i ×T max ；
C＝jm i ×am i ×|β i -α i |；
t3 i ′＝t1 i ′；
t5 i ′＝t3 i ′；
t6 i ′＝t2 i ′；
t7 i ′＝t1 i ′；
am i ′＝jm i ×T max ；
wm i ′＝(t1 i ′+t2 i ′)×am i ′；
jm i ′＝jm i ；
P i ′＝P i ；
wherein, T is max Characterizing the maximum runtime, the i characterizing the ith joint, the alpha i Characterizing the initial angle of the ith joint, said beta i Characterizing the end angle, jm, of the ith joint i 、am i And P i For the initial trajectory parameter, the jm i Characterizing a maximum attainable jerk of the ith joint, am i Characterizing the maximum achievable acceleration of the ith joint, P i Characterizing a velocity trajectory type of an ith joint; v, t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' As the corrected trajectory parameter, the t1 i ' characterizationCorrection of the ith joint plus acceleration time, t2 i ' characterise the modified uniform acceleration time for the ith joint, t3 i ' characterization of modified acceleration/deceleration time for i-th Joint, t4 i ' characterise the modified uniform time for the ith joint, t5 i ' characterization of the modified acceleration-deceleration time for the ith Joint, t6 i ' characterise the modified uniform deceleration time for the ith joint, t7 i ' characterization of the modified deceleration time of the ith Joint, am i ' maximum acceleration can be reached by a correction characterizing the ith joint, wm i ' characterise the maximum speed achievable by the revision of the ith joint, jm i ' correction to characterize the ith joint can achieve maximum jerk, P i ' characterize the trajectory type.
3. The mechanical arm multi-joint track time synchronization method according to claim 1, wherein the second correction track formula group is specifically:
B＝-T max ；
C＝0；
D＝|β i -α i |；
t2 i ′＝0；
t3 i ′＝t1 i ′；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ′×t1 i ′；
jm i ′＝jm i ；
P i ′＝P i ；
wherein, T is max Characterizing the maximum runtime, the i characterizing the ith joint, the alpha i Characterizing the initial angle of the ith joint, said beta i Characterizing the end angle, jm, of the ith joint i And P i For the initial trajectory parameter, the jm i Characterizing the maximum attainable jerk of the ith joint, P i Characterizing a velocity trajectory type of an ith joint; t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' is the corrected trajectory parameter, wherein the wm i ' is solved by the Caldan formula, the wm i ' maximum speed of correction characterizing ith Joint, t1 i ' characterization of the correction plus acceleration time for the ith Joint, t2 i ' characterization of the modified homoacceleration time for the ith Joint, t3 i ' characterization of modified acceleration/deceleration time for i-th Joint, t4 i ' characterise the modified uniform time for the ith joint, t5 i ' characterize the modified accelerative-subtractive time of the ith joint, t6 i ' characterise the modified uniform deceleration time for the ith joint, t7 i ' characterise the modified deceleration time for the ith joint, am i ' characterise the maximum acceleration achievable for the modification of the ith joint, jm i ' correction to characterize the ith joint can achieve maximum jerk, P i ' characterize the trajectory type.
4. The mechanical arm multi-joint track time synchronization method according to claim 1, wherein the third modified track formula group is specifically:
A＝2×T max ；
B＝jm i ×T max 2 ；
C＝4×|β i -α i |×jm i ；
t3 i ′＝t1 i ′；
t4 i ′＝0；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ×T max ；
wm i ′＝(t1 i ′+t2 i ′)×am i ′；
jm i ′＝jm i ；
P i ′＝P i ；
wherein, T is max Characterizing the maximum runtime, the i characterizing the ith joint, the alpha i Characterizing the initial angle of the ith joint, said beta i Characterizing the end angle, jm, of the ith joint i And P i For the initial trajectory parameter, the jm i Characterizing the maximum attainable jerk of the ith joint, P i Characterizing a velocity trajectory type of an ith joint; t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' As the corrected trajectory parameter, the t1 i ' characterization of the correction plus acceleration time for the ith Joint, t2 i ' characterise the modified uniform acceleration time for the ith joint, t3 i ' modified acceleration/deceleration time for characterizing ith joint, t4 i ' characterise the modified uniform time for the ith joint, t5 i ' characterize the modified accelerative-subtractive time of the ith joint, t6 i ' characterise the modified uniform deceleration time for the ith joint, t7 i ' characterise the modified deceleration time for the ith joint, am i ' characterise the maximum acceleration achievable for the modification of the ith joint, wm i ' characterise the maximum speed achievable by the revision of the ith joint, jm i ' characterization of the i-th Joint the modified maximum jerk, P i ' characterize the trajectory type.
5. The mechanical arm multi-joint track time synchronization method according to claim 1, wherein the fourth correction track formula group is specifically:
t2 i ′＝0；
t3 i ′＝t1 i ′；
t4 i ′＝0；
t5 i ′＝t3 i ′；
t6 i ′＝0；
t7 i ′＝t1 i ′；
am i ′＝jm i ′×T max ；
wm i ′＝t1 i ′×am i ′；
P i ′＝P i ；
wherein, T is max Characterizing the maximum runtime, the i characterizing the ith joint, the α i Characterizing an initial angle of the ith joint, said beta i Characterizing the end angle, P, of the ith joint i For the initial trajectory parameter, the P i Characterizing a velocity trajectory type of an ith joint; t1 i ′、t2 i ′、t3 i ′、t4 i ′、t5 i ′、t6 i ′、t7 i ′、am i ′、wm i ′、jm i ' and P i ' As the corrected trajectory parameter, the jm i ' the modification characterizing the ith joint can reach the maximum jerk, t1 i ' correction plus acceleration time characterizing ith Joint, t2 i ' characterization of the modified homoacceleration time for the ith Joint, t3 i ' modified acceleration/deceleration time for characterizing ith joint, t4 i ' characterise the modified uniform time for the ith joint, t5 i ' characterization of the modified acceleration-deceleration time for the ith Joint, t6 i ' characterise the modified uniform deceleration time for the ith joint, t7 i ' characterise the modified deceleration time for the ith joint, am i ' characterise the maximum acceleration achievable for the modification of the ith joint, wm i ' characterise the maximum speed achievable for the revision of the ith joint, P i ' characterize the trajectory type.
6. The method for synchronizing the time of the multi-joint track of the mechanical arm according to claim 1, wherein the obtaining the angle parameter corresponding to each joint of the mechanical arm according to the initial pose and the end pose of the mechanical arm comprises:
and calculating to obtain the angle parameter corresponding to each joint by an inverse solution method according to the initial pose and the terminal pose of the mechanical arm.
7. The time synchronization method for the multi-joint track of the mechanical arm as claimed in claim 1, wherein the angle parameters comprise an initial angle and a final angle, and the speed parameters comprise a limit speed, a limit acceleration and a limit jerk.
8. A robot arm control system, comprising:
at least one memory;
at least one processor;
at least one program;
the programs are stored in the memory, and the processor executes at least one of the programs to implement the multi-joint trajectory time synchronization method of a robot arm according to any one of claims 1 to 7.
9. A computer-readable storage medium storing computer-executable signals for performing the method for time synchronizing multi-joint trajectories of a robotic arm of any one of claims 1 to 7.
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