CN107980108A

CN107980108A - Robot motion's method for planning track and relevant apparatus

Info

Publication number: CN107980108A
Application number: CN201780002229.0A
Authority: CN
Inventors: 张志明
Original assignee: Shenzhen A&E Intelligent Technology Institute Co Ltd
Current assignee: Shenzhen A&E Intelligent Technology Institute Co Ltd
Priority date: 2017-01-04
Filing date: 2017-01-04
Publication date: 2018-05-01
Anticipated expiration: 2037-01-04
Also published as: CN107980108B; WO2018126355A1

Abstract

This programme is related to motion control field, more particularly to robot motion's trajectory planning techniques.In a kind of robot motion's method for planning track, the characteristic point of n Bezier curve is determined according to the first CP movement locus section and the 2nd CP movement locus sections, n is not less than 4 (401)；N Bezier curve is built according to features described above point, orbit segment (402) is seamlessly transitted as between the first CP movement locus section and the 2nd CP movement locus sections.Due to seamlessly transitting orbit segment as between two CP movement locus sections using n Bezier curve, this seamlessly transits that orbit segment is tangent with the first CP movement locus sections in its starting point and curvature is identical, it is tangent with the 2nd CP movement locus sections in its terminating point and curvature is identical at the same time, so as to realize the smooth switching of continuous CP movements, at the same time, speed need not be reduced to 0, also, acceleration not saltus step.

Description

Robot motion's method for planning track and relevant apparatus

Technical field

The present invention relates to motion control field, more specifically to robot motion's trajectory planning techniques.

Background technology

In to motion planning and robot control, the track motion mode of controlled component (such as motion arm) can be divided into CP movements (continuous operation, including linear motion and circular motion) and PTP movements (point-to-point movement).

When carrying out Motion trajectory to robot, it may be necessary to which multistage CP movements are carried out continuously.Moved with two sections of CP Exemplified by being carried out continuously, Fig. 1 a are referred to, CP movement locus section 1 (alternatively referred to as orbit segment 1) and CP movement locus section 2 (can also claim For orbit segment 2) can be respectively straightway, in addition, can also arc section and arc section (Fig. 1 b), arc section and straightway (Fig. 1 c and Fig. 1 d) it is carried out continuously.

In the planning of single hop CP movements, its initial velocity and end speed are all 0, if the process continuously moved in multistage CP The middle initial velocity for making every section of CP move and end speed are all reduced to 0, can substantially reduce work efficiency, and frequently acceleration and deceleration Can have an impact to the service life of motor and retarder.Therefore, the trend of movement locus rule is not made in the continuous movements of multistage CP The speed of each section of CP movement is reduced to zero.

This just faces another problem：Fig. 1 a are still referred to, if continuous straightway not on the same line, just has point Angle.The vertex of wedge angle is O (O points are the intersection points of two orbit segments).Similarly, Fig. 1 b are referred to, if continuous two arc sections tangent line is not Overlap, also have wedge angle.Similarly, if straightway and arc section tangent line it is misaligned (referring to Fig. 1 c and Fig. 1 d), also have Wedge angle.Speed, by wedge angle, can produce vibration not for 0.

Orbit segment is seamlessly transitted for this reason, can be designed between continuous two CP movement locus sections.For example, Fig. 2 is referred to, can Obtain seamlessly transitting orbit segment using vector superposition method.This mode makes in Fig. 2 orbit segment 1 from turning by space vector addition Go out point A to the interpolated point of intersection point O, overlapped with orbit segment 2 from the interpolated point for turning in point B to intersection point O.Interpolated point after superposition can group Into one section of arc (namely arc between Fig. 2 midpoints A and point B) in space, make smooth trajectory.

That is, the running orbit finally cooked up is, run by C points to A points, turn out orbit segment 1 afterwards, inlet point A and Orbit segment is seamlessly transitted between point B, then orbit segment 2 is turned in by point B, finally reaches D.

Certainly, for the continuous movement of more than two sections CP movements, continuous CP movement locus section two-by-two can be carried out respectively It is so designed that.

Although vector superposition method has carried out smoothly, in practical applications, such as Fig. 1 a-1d institutes front and rear connected CP movements Show there is straightway to transfer with straightway switching, straightway and arc section switching, arc section and arc section.Though vector superposition method can With circularity substitution wedge angle, but it is only applicable in certainly under straightway and the scene of straightway switching, turns in straightway and arc section Connect, possibly can not find the circular arc all tangent with two tracks in the switching of arc section and arc section.This is because phase in space The straightway of friendship is certainly coplanar with straightway, but straightway and arc section, arc section and arc section are all not necessarily coplanar, The public circular arc switching cut can not be just found out in the case of non-coplanar.

Accordingly, it is now desired to robot motion's trajectory planning techniques solution, with order no matter continuous movement locus section Whether it is coplanar can smoothly be transferred, and at flex point (turn in a little and turn out point) speed continuous (namely speed need not be reduced to 0)。

The content of the invention

In view of this, the purpose of the embodiment of the present invention is to provide robot motion's method for planning track and relevant apparatus, To make continuous CP motion smoothings transfer, meanwhile, speed need not be reduced to 0.

Present inventor has found in the course of the research：

The mathematic curve that Bezier curve is made of line segment and node.Its global shape be not limited to circular arc, it can be achieved that Non-coplanar smooth trajectory, so that in terms of can be applicable to robot motion's trajectory planning.

Can make Bezier curve it is intersegmental as continuous movement locus seamlessly transit orbit segment, the starting of Bezier curve Point is overlapped with turning out for a movement locus section (can be described as lc orbit segments), the terminating point of Bezier curve and another movement locus Section (can be described as ln orbit segments) turns in a coincidence.

Inventor has found, is intended to realize at flex point and (turn out a little and turn in a little) that speed is continuous, then Bezier curve rises at it Initial point need to be with lc trajectory tangentials, while need to be with ln trajectory tangentials in its terminating point.

N times (n times) Bezier curve formula is：

Wherein b_i,n(t) it is known as Bernstein basic functions,T=0 corresponds to Beizer curves Starting point, t=1 correspond to the terminating point of Beizer curves.

P₀-P_nThis n characteristic point or control point define n Bezier curve in plane or in three dimensions, what it was formed Polygon is known as characteristic polygon or controlling polygon.Wherein, P₀For starting point, P_nFor terminating point, P₁-P_n-1For intermediate point.Example Such as refer to Fig. 3, P₀、P₁、P₂、P₃Four points define three bezier curve, and three bezier curve originates in P₀Move towards P₁, And from P₂Direction is to P₃.It should be noted that general three bezier curve is without P₁、P₂, the two point offer directions.

The tangent vector that n Bezier curve whole story point can be asked for according to the derived function property of Bezier basic functions isThen：

As t=0, B ' (0)=n (P₁-P₀), B ' (0) is tangent vector of the n Bezier curve in starting point；

As t=1, B ' (1)=n (P_n-P_n-1), B ' (1) is tangent vector of the n Bezier curve in terminating point.

Observe above-mentioned tangent vector and understand that tangential direction of the n Bezier curve at starting point and ending point (cuts arrow Amount) it is consistent with a line and the last item side trend that feature is polygonal.By taking three bezier curve shown in Fig. 3 as an example, B ' (0)=3 (P₁-P₀), B ' (1)=3 (P₃-P₂), and a line of Fig. 3 is P₁P₀, the last item side is P₃P₂。

To make n Bezier curve cut arrow direction phase with lc orbit segments and ln orbit segments respectively in the arrow direction of cutting of whole story point With, it is necessary to which minimum of four characteristic point or control point, orbit segment is seamlessly transitted so three bezier curve can be selected and be used as.

However, present inventor has found in further research process：

Using three bezier curve as orbit segment is seamlessly transitted although continuous CP motion smoothings can be made to transfer, together When, speed need not be reduced to 0, but only can guarantee that speed is continuous at flex point, and the acceleration at flex point is then not necessarily continuous.With The development of robot science and technology, the requirement for robot trajectory planning is higher and higher, if acceleration is discontinuous, at flex point The acceleration of saltus step can cause motor to shake, and motor and retarder are caused to damage.

The reason for present inventor is by analyzing acceleration saltus step, the reason for finding acceleration saltus step, is because of uprushing Centripetal acceleration.

The continuous necessary and sufficient condition of acceleration is the continual curvature on the basis of speed is continuous.

The centripetal acceleration of certain point has formulaWherein v represents the speed of the point, and ρ represents the curvature of the point.In v In the case of continuous, ensure continual curvature it is ensured that path acceleration is continuous.

The curvature formulations of curve have：Wherein B ' (t) represents that the single order of Bezier curve leads letter Number, B " (t) represent the second order derived function of Bezier curve.It can be drawn by curvature formulations：Ensure that Bezier curve second order can Lead and can ensure that any point acceleration is continuous on Bezier curve.So as long as number is more than 1 Bezier curve, its track one Determine continual curvature.

On the other hand, it is not saltus step at guarantee flex point, it is desirable to which speed and acceleration are continuous at flex point, this needs Bezier Curve and lc orbit segments in starting point (turning out point) tangent and continual curvature, meanwhile, Bezier curve is with ln orbit segments at end Stop (turns in a little) tangent and continual curvature.

The second order that n Bezier curve whole story point can be asked for according to the derived function property of Bezier basic functions leads arrow：

Try to achieve：As t=0, B " (0)=n (n-1) (P₂-2P₁+P₀)

As t=1, B " (1)=n (n-1) (P_n-2P_n-1+P_n-2)

Above-mentioned formula shows that it is only related with 3 adjacent control points that second order leads arrow.

Arrow direction and the second order of lc orbit segments and ln orbit segments, which are led, for second order leads that arrow direction is consistent, it is necessary to which minimum five control Point (or characteristic point) processed, so n (n is not less than 4) Bezier curve can be selected, four times Bezier curve has formula：

B (t)=P₀(1-t)⁴+4P₁t(1-t)³+6P₂t²(1-t)²+4P₃t³(1-t)+P₄t⁴, t ∈ [0,1]

Found based on the studies above, the embodiment of the present invention provides following technical solution：

On the one hand, embodiments herein provides robot motion's method for planning track, and at least for being based on n times, (n is not small Smooth switching between 4) Bezier curve realizes continuous two CP movement locus sections, the continuous two CP movement locus sections Including the first CP movement locus section and the 2nd CP movement locus sections；This method includes：According to the first CP movement locus section and 2nd CP movement locus sections determine the characteristic point of n Bezier curve；The characteristic point includes P₀、P₁、P₂、P₃, wherein, P₀To rise Initial point, P₃For terminating point, P₁、P₂For intermediate point；N (n is not less than 4) Bezier curve is built according to the characteristic point, as institute State the orbit segment that seamlessly transits between the first CP movement locus section and the 2nd CP movement locus sections, the orbit segment that seamlessly transits Starting point is the point that turns out of the first CP movement locus sections, and the terminating point for seamlessly transitting orbit segment is the 2nd CP fortune Dynamic orbit segment turns in a little；Wherein, orbit segment and the first CP movement locus section of seamlessly transitting is in the starting point Tangent vector direction it is identical and curvature is identical；It is described to seamlessly transit orbit segment with the 2nd CP movement locus section in the termination Tangent vector direction on point is identical and curvature is identical.In the present embodiment, it is used as the using n (n be not less than 4) Bezier curve Orbit segment is seamlessly transitted between one CP movement locus section and the 2nd CP movement locus sections, due to seamlessly transitting orbit segment in the whole story The arrow direction of cutting of point swears that direction is identical with the first CP movement locus section and cutting for the 2nd CP movement locus sections respectively, therefore, It is tangent in its starting point and the first CP movement locus sections that this seamlessly transits orbit segment, while in its terminating point and the 2nd CP movement rails Mark section is tangent, so that it is continuous to may be implemented at flex point and (turn out a little and turn in a little) speed, namely can realize that continuous CP movements are flat Trackslip and connect, meanwhile, speed need not be reduced to 0.In addition, this seamlessly transits curvature and first CP movement rail of the orbit segment in its starting point Mark section is to turn out curvature a little identical (starting point is overlapped with turning out, or it is also contemplated that starting point turns out point), in its termination Turning in curvature a little, identical (terminating point overlaps curvature and the 2nd CP movement locus section of point with turning in, or it is also contemplated that end Stop turns in a little) so that it is continuous to may be implemented at flex point and (turn out a little and turn in a little) acceleration, not saltus step.

In a possible design, before the characteristic point of n times definite (n the is not less than 4) Bezier curve, also wrap Include：Plan continuous CP movement locus section.

In a possible design, the n=4, the characteristic point includes P₀、P₁、P₂、P₃And P₄, wherein, P₀For starting Point, P₄For terminating point, P₁、P₂And P₃For the first to the 3rd intermediate point；The first CP movement locus section and the 2nd CP movement locus The intersection point of section is expressed as O points；It is described that n Bezier is determined according to the first CP movement locus section and the 2nd CP movement locus sections The characteristic point of curve includes：It is the second intermediate point P to determine the intersection point O₂。

It is described to be determined according to the first CP movement locus section and the 2nd CP movement locus sections in a possible design The characteristic point of n Bezier curve further includes：If the first CP movement locus section is straightway, selects the intersection point O and rise Initial point P₀Between line segment on a little be used as the first intermediate point P₁；If the first CP movement locus section is arc section, really Fixed first intermediate point P₁Positioned at starting point P₀Tangent line on, also, line segment P₁P₀Length beWherein, r1 Represent the radius of the first CP movement locus sections, α 1 represents the central angle of the starting point.

It is described to be determined according to the first CP movement locus section and the 2nd CP movement locus sections in a possible design The characteristic point of n Bezier curve further includes：If the 2nd CP movement locus section is straightway, the intersection point O and end are selected Stop P₄Between line segment on a little be used as the 3rd intermediate point P₃；If the 2nd CP movement locus section is arc section, really The fixed 3rd intermediate point P₃Positioned at terminating point P₄Tangent line on, also, line segment P₂P₄Length beIts In, r2 represents the radius of the 2nd CP movement locus sections, and α 2 represents the central angle at terminating point.

In a possible design, the n=5, the characteristic point includes P₀、P₁、P₂、P₃、P₄And P₅, wherein, P₀For Starting point, P₅For terminating point, P₁To P₄For first to fourth intermediate point；The first CP movement locus section and the 2nd CP movement rails The intersection point of mark section is expressed as O points.

It is described to be determined according to the first CP movement locus section and the 2nd CP movement locus sections in a possible design The characteristic point of n Bezier curve includes：If the first CP movement locus section is arc section, the first intermediate point P is determined₁ Positioned at the starting point P₀Tangent line on, also, line segment P₁P₀Length beWherein, r1 represents described the The radius of one CP movement locus sections, α 1 represent the central angle of the starting point；Determine the second intermediate point P₂For with described Starting point P₀It is the trisection point on the arc section of endpoint with intersection point O.

It is described to be determined according to the first CP movement locus section and the 2nd CP movement locus sections in a possible design The characteristic point of n Bezier curve includes：If the first CP movement locus section is straightway, select with the starting point P₀With Intersection point O is the trisection point on the straightway of endpoint respectively as the first intermediate point P₁With the second intermediate point P₂。

It is described to be determined according to the first CP movement locus section and the 2nd CP movement locus sections in a possible design The characteristic point of n Bezier curve further includes：If the 2nd CP movement locus section is arc section, the 3rd intermediate point is determined P₃On the tangent line of terminating point, also, line segment P₃P₅Length beWherein, r2 represents the 2nd CP The radius of movement locus section, α 2 represent the central angle at the terminating point；Determine the 4th intermediate point P₄Endpoint is, with described Trisection point on terminating point and the arc section that intersection point O is endpoint.

It is described to be determined according to the first CP movement locus section and the 2nd CP movement locus sections in a possible design The characteristic point of n Bezier curve further includes：If the 2nd CP movement locus section is straightway, select with the terminating point and Intersection point O is the trisection point on the straightway of endpoint respectively as the 3rd intermediate point P₃With the 4th intermediate point P₄。

On the other hand, an embodiment of the present invention provides a kind of robot motion's trajectory planning device, which, which has, realizes The function of above method robot motion's trajectory planning device behavior in practice.The function can also may be used by hardware realization Realized with performing corresponding software by hardware.The hardware or software include the one or more and corresponding mould of above-mentioned function Block.

In a possible design, the structure of robot motion's trajectory planning device includes：Processor and memory, institute Processor is stated by running the software program being stored in the memory, calling the data being stored in the memory, is held The row above method.

Another further aspect, an embodiment of the present invention provides a kind of robot, it includes above-mentioned robot motion's trajectory planning Device, and the continuous two CP movement locus section cooked up according to above-mentioned robot motion's trajectory planning device and seamlessly transit The controlled device of orbit segment operation.The control device for example can be motion arm.

Another further aspect, an embodiment of the present invention provides a kind of computer-readable storage medium, for saving as above-mentioned robot fortune Computer software instructions used in dynamic rail mark device for planning, it includes for performing the program designed by above-mentioned aspect.

Another further aspect, an embodiment of the present invention provides a kind of computer-readable storage medium, for saving as above-mentioned institute of robot Computer software instructions, it includes for performing the program designed by above-mentioned aspect.

Compared to the prior art, the present embodiment is using n (n is not less than 4) Bezier curve as the first CP movement locus Orbit segment is seamlessly transitted between section and the 2nd CP movement locus sections, arrow direction is cut in whole story point due to seamlessly transitting orbit segment Swear that direction is identical with the first CP movement locus section and cutting for the 2nd CP movement locus sections respectively, therefore, this seamlessly transits rail Mark Duan Qi starting points and the first CP movement locus sections are tangent, while tangent in its terminating point and the 2nd CP movement locus sections, from And it is continuous to may be implemented at flex point and (turn out a little and turn in a little) speed, namely it can realize continuous CP motion smoothings switching, meanwhile, Speed need not be reduced to 0.In addition, this seamlessly transits orbit segment is turning out point in the curvature of its starting point with the first CP movement locus section Curvature it is identical (starting point is overlapped with turning out, or it is also contemplated that starting point turns out point), in the curvature and the of its terminating point Turning in curvature a little, identical (terminating point overlaps two CP movement locus sections with turning in, or it is also contemplated that terminating point turns in Point) so that it is continuous to may be implemented at flex point and (turn out a little and turn in a little) acceleration, not saltus step.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with Other attached drawings are obtained according to these attached drawings.

Fig. 1 a-1d are the schematic diagram of continuous movement locus section provided in an embodiment of the present invention；

Fig. 2 obtains seamlessly transitting orbit segment schematic diagram to be provided in an embodiment of the present invention using vector superposition method；

Fig. 3 is n times provided in an embodiment of the present invention (n is not less than 4) Bezier curve schematic diagram；

Fig. 4-5,6a, 7a, 8a, 9a, 10a, 11a, 12a are robot motion trajectory planning side provided in an embodiment of the present invention Method exemplary process diagram；

Fig. 6 b, 7b, 8b, 9b, 10b, 11b, 12b are provided in an embodiment of the present invention two continuous movement locus sections using smoothly Transition orbit segment transition schematic diagram；

Fig. 6 c, 7c, 9c, 10c, 11c, 12c are curvature chart provided in an embodiment of the present invention；

Fig. 8 c are geometrical principle figure provided in an embodiment of the present invention；

Figure 13 is robot motion's trajectory planning apparatus structure schematic diagram provided in an embodiment of the present invention；

Figure 14 is robot motion's trajectory planning device general computer architecture schematic diagram provided in an embodiment of the present invention.

Embodiment

Technical term that the present invention may use, write a Chinese character in simplified form or abridge as follows：

TCP points：Tool coordinates central point；

Linear motion：Robot TCP points move in cartesian space along straight path；

Circular motion：Robot C P points move in cartesian space along arc track；

CP：It is continuous to move, the track motion mode under cartesian space, including linear motion and circular motion；

N Bezier curve：N times Bezier curve formula is：Claim For Bernstein basic functions,T=0 corresponds to the starting point of Beizer curves, and t=1 corresponds to Beizer The terminating point of curve.

An embodiment of the present invention provides robot motion's method for planning track and relevant apparatus, to make continuous CP movements flat Trackslip and connect, meanwhile, speed need not be reduced to 0 and acceleration not saltus step.Robot motion's rail involved by the embodiment of the present invention Mark device for planning is applied in robot, its concretely controller/processor in robot.

One embodiment of the present of invention provides a kind of method for realizing robot motion's trajectory planning, and based on this method Robot motion's trajectory planning device.The device is by performing the above method, it may be achieved continuous two CP movement locus section ( One CP movement locus section and the 2nd CP movement locus section) between smooth switching, refer to Fig. 4, its concrete operations includes：

In 401 parts：Determining n Bezier curve according to the first CP movement locus section and the 2nd CP movement locus sections, (n is not Less than characteristic point 4)；

By taking n=4 as an example, characteristic point may include P₀、P₁、P₂、P₃And P₄, wherein, P₀For starting point, P₄For terminating point, P₁、P₂、 P₃For intermediate point.

And if n=5, characteristic point may include P₀、P₁、P₂、P₃、P₄And P₅, wherein, P₀For starting point, P₅For terminating point, its He is put as intermediate point.

In 402 parts：Above-mentioned n Bezier curve (n is not less than 4) is built according to features described above point, is transported as the first CP It is dynamic to seamlessly transit orbit segment between orbit segment and the 2nd CP movement locus sections.

After characteristic point is determined, existing structure can be used by building n Bezier curve (n is not less than 4) according to characteristic point Mode is built, therefore not to repeat here.

It should be noted that turning out for the above-mentioned starting point for seamlessly transitting orbit segment and the first CP movement locus sections is mutually overlapping (or being believed that the starting point for seamlessly transitting orbit segment is that the first CP movement locus section turn out point) is closed, seamlessly transits orbit segment Terminating point and turning in for the 2nd CP movement locus sections a little coincide and (or be believed that the terminating point for seamlessly transitting orbit segment is 2nd CP movement locus sections turn in a little).It can so ensure that path is continuous.

In addition, orbit segment is seamlessly transitted in starting point P₀On tangent vector direction, turning out with the first CP movement locus sections Tangent vector direction on point is identical, in this way, it is tangent in its starting point and the first CP movement locus sections to seamlessly transit orbit segment, and Orbit segment is seamlessly transitted in starting point P₀On curvature and the first CP movement locus section to turn out the curvature on a little identical, in this way, It can ensure turning out speed a little and acceleration is continuous.

Similarly, tangent vector direction and twoth CP movement locus section of the orbit segment on its terminating point is seamlessly transitted to turn in a little On tangent vector direction direction it is identical.In this way, it is tangent in its terminating point and the 2nd CP movement locus sections to seamlessly transit orbit segment. And curvature of the orbit segment on terminating point and the 2nd CP movement locus section are seamlessly transitted to turn in the curvature on a little identical.This Sample, it is ensured that turning in speed a little and acceleration is continuous.

In one example, turning a little and turning in can a little determine according to the configuration of user.Turned specifically, user may indicate that Go out a little with the distance between intersection point (intersection point is the intersection point of the first CP movement locus section and the 2nd CP movement locus sections), turn in a little with The distance between intersection point is a little equal with the distance between intersection point with turning out, and point is turned in a little and turn out in this way, just can determine that.

It should be noted that for continuous multistage CP movement locus sections, the continuous CP movement locus of each two can be directed to Above-mentioned 401 parts of Duan Zhihang and 402 parts.For example, for continuous three sections of CP movement locus section 1-3, CP fortune can be first cooked up Orbit segment is seamlessly transitted between dynamic orbit segment 1-2, then cooks up and seamlessly transits orbit segment between CP movement locus sections 2-3.

Below in conjunction with the accompanying drawings 5, the scheme provided the embodiment of the present invention illustrates.

Fig. 5 is the another exemplary flow chart of robot motion's method for planning track provided in an embodiment of the present invention.

In 500 parts：Plan continuous CP movement locus section.

Continuous CP movement locus sections are also to need to plan in advance.500 parts are follow-up 501 parts and 502 parts Basis.

In one example, required all CP movement locus sections can disposably be cooked up.For example, need altogether continuous 4 CP movement locus sections then can disposably cook up 4 continuous CP movement locus sections to complete some operation of robot.

In another example, required all CP movement locus sections can be also cooked up in batches.It is still continuous to need CP movement locus section 1-4 can first plan CP movement locus section 1-2, then, after execution by taking some operation for completing robot as an example Continuous 501 parts and 502 parts, to obtain seamlessly transitting orbit segment between CP movement locus sections 1-2.And then cook up CP movement locus section 3, then follow-up 501 parts and 502 parts are performed, it is smoothed between CP movement locus sections 2-3 to obtain Orbit segment is crossed, and so on.

In yet another example, also can using prediction X sections by the way of planned, X generally takes 3.To need continuous CP Movement locus section 1-8 can first plan CP movement locus section 1-2 by taking some operation for completing robot as an example, then, perform follow-up 501 parts and 502 parts, to obtain seamlessly transitting orbit segment between CP movement locus sections 1-2.And then cook up CP Movement locus section 3, then follow-up 501 parts and 502 parts are performed, to obtain seamlessly transitting between CP movement locus sections 2-3 Orbit segment.Then, after waiting CP movement locus section 1 to run, then CP movement locus section 4 is cooked up, then, performs follow-up 501 Part and 502 parts, to obtain seamlessly transitting orbit segment between CP movement locus sections 3-4.CP movement locus section 2 is waited to run again After complete, CP movement locus section 5 is cooked up, then, performs follow-up 501 parts and 502 parts, to obtain CP movement locus sections 4- Orbit segment is seamlessly transitted between 5, and so on.

In 501 parts：Determined n times (n is not less than 4) according to the first CP movement locus section and the 2nd CP movement locus sections The characteristic point of Bezier curve.

501 parts and 401 parts are similar, and therefore not to repeat here.

In 502 parts：N (n is not less than 4) Bezier curve is built according to features described above point, rail is moved as the first CP Orbit segment is seamlessly transitted between mark section and the 2nd CP movement locus sections.

502 parts and 402 parts are similar, and therefore not to repeat here.

It is preceding to have addressed, during n=4, there are five characteristic points, during n=5, there are six characteristic points.In the case n=4, it is middle Point determines that during with n=5, the definite of intermediate point differs.Also, in practical applications, the first CP movement locus section and Two CP movement locus sections can be respectively：Straightway and straightway, straightway and arc section, arc section and straightway, arc section with Four kinds of situations of arc section.Situation will be divided below, the embodiment of the present invention will be described further.

When Fig. 6 a are n=4 and the first CP movement locus section and the 2nd CP movement locus sections are respectively straightway, the present invention is real Another robot motion's method for planning track exemplary process diagram of example offer is provided.The first CP movement locus is shown in Fig. 6 b Section (lc) and the 2nd CP movement locus section (ln) and seamlessly transit orbit segment.Lc orbit segments and ln orbit segments intersect at intersection point O.

In 601 parts：Determine that turning out for lc orbit segments is a little the starting point P for seamlessly transitting orbit segment₀, determine ln orbit segments To turn in be a little to seamlessly transit the terminating point P of orbit segment₄。

In 602 parts：It is (second) intermediate point P to determine intersection point O₂。

It is preceding it was demonstrated that curvature and adjacent 3 characteristic point (Ps of n (4 times) Bezier curve in starting point₀、P₁、P₂) phase Close, curvature at terminating point also with 3 adjacent characteristic point (P₂、P₃And P₄) related, then P₂Point needs at the same time and P₀、P₁、P₃ And P₄It is coplanar, therefore, intersection point O is selected as P₂。

In 603 parts：Select line segment P₀O (namely intersection point O and starting point P₀Between line segment) on a little be used as (first) Intermediate point P₁；Line segment P₀O is intersection point O and starting point P₀Between line segment.

In one example, intermediate point P₁To the distance of intersection point O, starting point P is arrived equal to it₀Distance.Therefore, solving P₁During coordinate, P can be made₀P₁=P₁O, and then obtain P1 point coordinates.P₀P₁=P₁O can make characteristic point be evenly distributed, and characteristic point is equal Even distribution can then make the parameter of Beizer curves uniform, and trajectory tortuosity change is steady.

In 604 parts：Select line segment OP₄On a little be used as (the 3rd) intermediate point P₃。

Line segment OP₄It is intersection point O and terminating point P₄Between line segment.

In one example, intermediate point P₃To the distance of intersection point O, equal to intermediate point P₃To terminating point P₄Distance.Therefore, Solving P₃During coordinate, P can be made₃P₄=P₃O, so as to obtain P₃Point coordinates.

In 605 parts：Four Bezier curves are built according to features described above point, as the first CP movement locus section and second Orbit segment is seamlessly transitted between CP movement locus sections (Fig. 6 b dotted portions are to seamlessly transit orbit segment).

605 parts and foregoing 402 and 502 parts are similar, and therefore not to repeat here.

Fig. 6 c are referred to, are all 0 in whole story point curvature by the method shown in Fig. 6 a, and then realizes and accelerates at flex point Degree is continuous.

Fig. 7 a are n=4 and the first CP movement locus sections are straightway, the 2nd CP movement locus sections are when being arc section, this hair Another robot motion's method for planning track exemplary process diagram that bright embodiment provides.The first CP movements are shown in Fig. 7 b Orbit segment (lc) and the 2nd CP movement locus section (ln) and seamlessly transit orbit segment.

In 701 parts：Determine that turning out for lc orbit segments is a little the starting point P for seamlessly transitting orbit segment₀, determine ln orbit segments To turn in be a little to seamlessly transit the terminating point P of orbit segment₄。

701 parts and 601 parts are similar, and therefore not to repeat here.

In 702 parts：It is (second) intermediate point P to determine intersection point O₂。

702 parts and 602 parts are similar, and therefore not to repeat here.

In 703 parts：Select line segment P₀O (namely intersection point O and starting point P₀Between line segment) on a little be used as intermediate point P₁。

703 parts and 603 parts are similar, and therefore not to repeat here.

In 704 parts：Determine intermediate point P₃Positioned at terminating point P₄Tangent line on, also, line segment P₃P₄Length be(reference can be made to Fig. 7 b).

Wherein, r2 represents the radius of ln orbit segments, and α 2 represents terminating point P₄The central angle at place.

FormulaDerivation refer to Fig. 8 a illustrated embodiments.

In 705 parts：Four Bezier curves are built according to features described above point, as the first CP movement locus section and second Orbit segment is seamlessly transitted between CP movement locus sections (Fig. 7 b dotted portions are to seamlessly transit orbit segment).

705 parts and the part of foregoing 402,502 and 605 are similar, and therefore not to repeat here.

Fig. 7 c are referred to, by the method shown in Fig. 7 a, is 0 in starting point curvature, is radius (50) in terminating point curvature Inverse 0.02, and then realize at flex point acceleration it is continuous.

Fig. 8 a are n=4 and the first CP movement locus sections are arc section, the 2nd CP movement locus sections are when being straightway, this hair Another robot motion's method for planning track exemplary process diagram that bright embodiment provides.The first CP movements are shown in Fig. 8 b Orbit segment (lc) and the 2nd CP movement locus section (ln) and seamlessly transit orbit segment.

In 801 parts, determine that turning out for lc orbit segments is a little the starting point P for seamlessly transitting orbit segment₀, determine ln orbit segments To turn in be a little to seamlessly transit the terminating point P of orbit segment₄。

801 parts and 601,701 parts are similar, and therefore not to repeat here.

In 802 parts：It is (second) intermediate point P to determine intersection point O₂。

802 parts and 602,702 parts are similar, and therefore not to repeat here.

In 803 parts：Determine intermediate point P₁Positioned at starting point P₀Tangent line on, also, line segment P₁P₀Length be

Wherein, r1 represents the radius of lc orbit segments, and α 1 represents the central angle of starting point.

Formula is told about belowWithOrigin.

Fig. 8 c are referred to, there are two continuous CP movement locus sections, the last period is arc section, and latter section is straightway, and point A is Intersection point, for point C to turn out point, arc section radius is r, turn out at central angle be α.Root.

B points are P1 points or P₃Point, B points are located at circular arc on the tangent line at point C, and meet that n Bezier curve is originating (i.e. C points) curvature is equal to circular arc curvature at point.The curvature of known arc section is the inverse of radius, then row equation：

Wherein：

N is Bezier curve number；

∠ θ are the angle of vector AB and vector BC.

Right angled triangle ABD is established, is obtained | AB | sin θ=AD=r-rcos α.

Abbreviation both members obtain

In 804 parts：Select line segment OP₄On a little be used as intermediate point P₃.Line segment OP₄It is between intersection point O and terminating point Line segment.

804 parts and 604 parts are similar, and therefore not to repeat here.

In 805 parts：Four Bezier curves are built according to features described above point, as the first CP movement locus section and second Orbit segment is seamlessly transitted between CP movement locus sections (Fig. 8 b dotted portions are to seamlessly transit orbit segment).

805 parts and the part of foregoing 402,502,605 and 705 are similar, and therefore not to repeat here.

When Fig. 9 a are n=4 and the first CP movement locus section and the 2nd CP movement locus sections are arc section, the present invention is implemented Another robot motion's method for planning track exemplary process diagram that example provides.The first CP movement locus sections are shown in Fig. 9 b (lc) and the 2nd CP movement locus section (ln) and orbit segment is seamlessly transitted.

In 901 parts, determine that turning out for lc orbit segments is a little the starting point P for seamlessly transitting orbit segment₀, determine ln orbit segments To turn in be a little to seamlessly transit the terminating point P of orbit segment₄。

901 parts and 601,701,801 parts are similar, and therefore not to repeat here.

In 902 parts：It is (second) intermediate point P to determine intersection point O₂。

902 parts and 602,702 and 802 parts are similar, and therefore not to repeat here.

In 903 parts：Determine intermediate point P₁Positioned at starting point P₀Tangent line on, also, line segment P₁P₀Length be

903 parts and 803 parts are similar, and therefore not to repeat here.

In 904 parts：Determine intermediate point P₃Positioned at terminating point P₄Tangent line on, also, line segment P₂P₄Length be(reference can be made to Fig. 9 b).

904 parts and 704 parts are similar, and therefore not to repeat here.

In 905 parts：Four Bezier curves are built according to features described above point, as the first CP movement locus section and second Orbit segment is seamlessly transitted between CP movement locus sections (Fig. 9 b dotted portions are to seamlessly transit orbit segment).

905 parts are with foregoing 402,502,605,705,805 parts it is similar, therefore not to repeat here.

Fig. 9 c are referred to, are all the inverse 0.02 of radius (50) in whole story point curvature by the method shown in Fig. 9 a, and then Realize that acceleration is continuous at flex point.

In view of in five control points of four Bezier curves, P₂Two track intersection point of point selection, the free degree are inadequate.In order to Make smooth track adjustable, increase more selections, it is five Bezier curves that four Bezier curves can be risen rank.

The motion trail planning method based on five Bezier curves is explained below.The formula of five Bezier curves For：

B (t)=P₀(1-t)⁵+5P₁t(1-t)⁴+10P₂t2⁽1-t)³+10P₃t³(1-t)2...+5P₄t⁴(1-t)+P₅t⁵, t ∈ [0,1]

When Figure 10 a are n=5 and the first CP movement locus section and the 2nd CP movement locus sections are respectively arc section, the present invention Another robot motion's method for planning track exemplary process diagram that embodiment provides.The first CP movements are shown in Figure 10 b Orbit segment (lc) and the 2nd CP movement locus section (ln) and orbit segment is seamlessly transitted, lc orbit segments and ln orbit segments intersect at friendship Point O.Characteristic point includes P₀、P₁、P₂、P₃、P₄And P₅, wherein, P₀For starting point, P₅For terminating point, P₁To P₄In first to fourth Between point.

In 1001 parts：Determine that turning out for lc orbit segments is a little the starting point P for seamlessly transitting orbit segment₀, determine ln tracks Turning in for section is a little the terminating point P for seamlessly transitting orbit segment₅。

1001 parts and 601,701,801,901 parts are similar, and therefore not to repeat here.

In 1002 parts：Determine (first) intermediate point P₁Positioned at starting point P₀Tangent line on, also, line segment P₁P₀Length For

1002 parts and 803 parts are similar, and therefore not to repeat here.

In 1003 parts：Determine (second) intermediate point P₂For with starting point P₀With arc section (circular arc that intersection point O is endpoint Section belongs to the parts of lc orbit segments) on trisection point.

Since trisection point there are two, in one example, the trisection point close to intersection point can be chosen as intermediate point P₂。

In 1004 parts：Determine the 4th intermediate point P₄Positioned at terminating point P₅Tangent line on, also, line segment P₄P₅Length be

Wherein, r2 represents the radius of ln orbit segments, and α 2 represents the central angle at terminating point.

1004 parts and 904 parts are similar, and therefore not to repeat here.

In 1005 parts：Determine (the 3rd) intermediate point P₃Endpoint is, with terminating point P₅(should for the arc section of endpoint with intersection point O Arc section belongs to a part for ln orbit segments) on trisection point.

Since trisection point there are two, in one example, the trisection point close to intersection point can be chosen as intermediate point P₃。

In 1006 parts：Five Bezier curves are built according to features described above point, as the first CP movement locus section and the Orbit segment is seamlessly transitted between two CP movement locus sections (Figure 10 b dotted portions are to seamlessly transit orbit segment).

Figure 10 c are referred to, are all the inverse 0.02 of radius (50) in whole story point curvature by the method shown in Figure 10 a, into And realize that acceleration is continuous at flex point.

Figure 11 a are n=5 and the first CP movement locus sections are straightway, when the 2nd CP movement locus section is arc section, this hair Another robot motion's method for planning track exemplary process diagram that bright embodiment provides.The first CP fortune is shown in Figure 11 b Move orbit segment (lc) and the 2nd CP movement locus section (ln) and seamlessly transit orbit segment, lc orbit segments and ln orbit segments intersect at Intersection point O.

In 1101 parts：Determine that turning out for lc orbit segments is a little the starting point P for seamlessly transitting orbit segment₀, determine ln tracks Turning in for section is a little the terminating point P for seamlessly transitting orbit segment₅。

1101 parts and 601,701,801,901 and 1001 parts are similar, and therefore not to repeat here.

In 1102 parts：Selection is with starting point P₀It is the trisection point on the straightway of endpoint with intersection point O respectively as the One intermediate point P₁With the second intermediate point P₂。

Since straight line curvature is 0, so P₀、P₁、P₂Collinearly.

Since trisection point there are two, in one example, trisection point close to intersection point can be chosen as among second Point P₂, select close to starting point P₀Trisection point as the first intermediate point P₁。

In 1103 parts：Determine the 4th intermediate point P₄Positioned at terminating point P₅Tangent line on, also, line segment P₄P₅Length be

1103 parts and 904,1004 parts are similar, and therefore not to repeat here.

In 1104 parts：Determine the 3rd intermediate point P₃Endpoint is, using terminating point and intersection point O as three on the arc section of endpoint Along ent.

1104 parts and 1005 parts are similar, and therefore not to repeat here.

In 1105 parts：Five Bezier curves are built according to features described above point, as the first CP movement locus section and the Orbit segment is seamlessly transitted between two CP movement locus sections (Figure 11 b dotted portions are to seamlessly transit orbit segment).

Figure 11 c are referred to, by the method shown in Figure 11 a, is 0 in starting point curvature, is radius in terminating point curvature (50) inverse 0.02, and then realize that acceleration is continuous at flex point.

Figure 12 a are n=5 and the first CP movement locus sections are straightway, when the 2nd CP movement locus section is arc section, this hair Another robot motion's method for planning track exemplary process diagram that bright embodiment provides.

Figure 12 b are shown the first CP movement locus section (lc) and the 2nd CP movement locus section (ln) and seamlessly transit rail Mark section, lc orbit segments and ln orbit segments intersect at intersection point O.

In 1201 parts：Determine that turning out for lc orbit segments is a little the starting point P for seamlessly transitting orbit segment₀, determine ln tracks Turning in for section is a little the terminating point P for seamlessly transitting orbit segment₅。

1201 parts and 601,701,801,901,1001 and 1101 parts are similar, and therefore not to repeat here.

In 1202 parts：Selection is with starting point P₀It is the trisection point on the straightway of endpoint with intersection point O respectively as (the One) intermediate point P₁With the second intermediate point P₂。

1202 parts and 1102 parts are similar, and therefore not to repeat here.

In 1203 parts：Selection is with terminating point P₅It is the trisection point on the straightway of endpoint with intersection point O respectively as the Three intermediate point P₃With the 4th intermediate point P₄。

Since straight line curvature is 0, so P₃、P₄、P₅Collinearly.

Since trisection point there are two, in one example, trisection point close to intersection point can be chosen as among the 3rd Point P₃, select close to terminating point P₅Trisection point as the 4th intermediate point P₄。

In 1204 parts：Five Bezier curves are built according to features described above point, as the first CP movement locus section and the Orbit segment is seamlessly transitted between two CP movement locus sections (Figure 12 b dotted portions are to seamlessly transit orbit segment).

Figure 12 c are referred to, are all 0 in whole story point curvature by the method shown in Figure 12 a, and then realizes and adds at flex point Speed is continuous.

It is smoothed when as n=5 and the first CP movement locus sections be arc section and the 2nd CP movement locus sections are straightway Cross the starting point P of orbit segment₀, terminating point P₅Determination mode can be found in 601,701,801,901,1001 and 1201 parts, first Intermediate point P₁With the second intermediate point P₂Determination mode can be found in 1002 parts and 1003 parts, the 3rd intermediate point P₃In the 4th Between point P₄Determination mode can be found in 1203 parts, therefore not to repeat here.

Figure 13 shows a kind of possible structure of robot motion's trajectory planning device involved in above-described embodiment Schematic diagram, including：

Characteristic point determination unit 131, for determining n (n according to the first CP movement locus section and the 2nd CP movement locus sections Not less than the characteristic point of 4) Bezier curve.

Track construction unit 132 is seamlessly transitted, it is bent for building n (n is not less than 4) Bezier according to the characteristic point Line, it is described smoothed as the orbit segment that seamlessly transits between the first CP movement locus section and the 2nd CP movement locus sections The starting point for crossing orbit segment turns out point for the first CP movement locus sections, and the terminating point for seamlessly transitting orbit segment is institute State turning in a little for the 2nd CP movement locus sections；Wherein, it is described to seamlessly transit orbit segment with the first CP movement locus section in institute State that tangent vector direction in starting point is identical and curvature is identical；It is described to seamlessly transit orbit segment and the 2nd CP movement locus sections Tangent vector direction on the terminating point is identical and curvature is identical.

In addition, it may further comprise planning unit 133, for being determined n times (n is not less than 4) in the characteristic point determination unit Before the characteristic point of Bezier curve, continuous CP movement locus section is planned.

Wherein, characteristic point determination unit 131 can be used for performing 401 parts shown in Fig. 4,501 parts shown in Fig. 5, figure The 701-704 parts shown in 601-604 parts, Fig. 7 a, the 801-804 parts shown in Fig. 8 a shown in 6a, shown in Fig. 9 a 901-904 parts, the 1001-1005 parts shown in Figure 10 a, the 1101-1104 parts shown in Figure 11 a, and, shown in Figure 12 a 1201-1203 parts.

Track construction unit 132 is seamlessly transitted to can be used for performing 402 parts shown in Fig. 4,502 parts shown in Fig. 5, figure 705 parts shown in 605 parts, Fig. 7 a, 805 parts shown in Fig. 8 a shown in 6a, 905 parts shown in Fig. 9 a, Figure 10 a institutes 1006 parts shown, 1105 parts shown in Figure 11 a, and, 1204 parts shown in Figure 12 a.

Planning unit 133 can be used for performing 500 parts shown in Fig. 5.

Figure 14 shows a kind of possible structure diagram of robot involved in above-described embodiment, including：

Bus, controller/processor 1, memory 2, communication interface 3, input equipment 4, output equipment 5 and controlled device 6. Processor 1, memory 2, communication interface 3, input equipment 4, output equipment 5 and controlled device 6 can be connected with each other by bus.Its In：

Bus may include a path, and information is transmitted between computer system all parts.

Controller/processor 1 (robot motion's trajectory planning device) can be at general processor, such as general purpose central Manage device (CPU), network processing unit (NetworkProcessor, abbreviation NP), microprocessor etc. or application-specific integrates Circuit (application-specific integrated circuit, ASIC), or it is one or more for controlling the present invention The integrated circuit that scheme processes perform.Can also be digital signal processor (DSP), application-specific integrated circuit (ASIC), it is ready-made can Program gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components. Controller/processor 1 can also be the combination for realizing computing function, for example, comprising one or more microprocessors combine, DSP and Combination of microprocessor etc..

The program for performing technical solution of the present invention is preserved in memory 2, operating system can also be preserved and other should Use program.Specifically, program can include program code, and program code includes computer-managed instruction.More specifically, memory It 2 can be read-only storage (read-only memory, ROM), the other kinds of static state of static information and instruction can be stored Storage device, random access memory (randomaccess memory, RAM), can store the other kinds of of information and instruction Dynamic memory, magnetic disk storage etc..

Input equipment 4 may include the device for receiving data and information input by user, such as keyboard, mouse, camera, sweep Retouch instrument, light pen, speech input device, touch-screen etc..

Output equipment 5 may include the device for allowing output information to user, such as display screen, printer, loudspeaker etc..

Communication interface 3 may include the device using any transceiver one kind, so as to other equipment or communication, Such as Ethernet, wireless access network (RAN), WLAN (WLAN) etc..

Controller/processor 1 is available for robot motion involved in execution Fig. 4,5,6a, 7a, 8a, 9a, 10a, 11a, 12a The processing procedure of trajectory planning device and/or other processes for technology described herein.Controller/processor also may be used It is used for realization preceding feature point determination unit 131, seamlessly transits the function of track construction unit 132 and planning unit 133.

Controlled device 6 can be used for the continuous two CP movement locus section cooked up according to controller/processor 1 and smoothed Cross orbit segment operation.

Designed it is understood that Figure 14 illustrate only simplifying for robot.In practical applications, robot can wrap Containing any number of transmitter, receiver, processor, controller, memory, communication interface etc., and all it can realize this hair Bright robot is all within protection scope of the present invention.

Method and apparatus disclosed in above-mentioned all embodiments can operate with mechanical arm control, realize mechanical arm in flute card Smooth switching under your space in two continuous running orbits.The equipment of any required path planning can certainly be extended to In, such as trolley, aircraft.

It can be realized in a manner of hardware with reference to the step of described method of the disclosure of invention or algorithm, also may be used Realized in a manner of being to perform software instruction by processor.Software instruction can be made of corresponding software module, software mould Block can be stored on RAM memory, flash memory, ROM memory, eprom memory, eeprom memory, register, hard disk, In the storage medium of mobile hard disk, CD-ROM or any other form well known in the art.A kind of exemplary storage medium Coupled to processor, so as to enable a processor to from the read information, and information can be write to the storage medium.When So, storage medium can also be the part of processor.Pocessor and storage media can be located in ASIC.

Those skilled in the art are it will be appreciated that in said one or multiple examples, work(described in the invention It is able to can be realized with hardware, software, firmware or their any combination.When implemented in software, can be by these functions It is stored in computer-readable medium or is transmitted as one or more instructions on computer-readable medium or code. Computer-readable medium includes computer storage media and communication media, and wherein communication media includes being easy to from a place to another Any medium of one place transmission computer program.It is any that storage medium can be that universal or special computer can access Usable medium.

Above-described embodiment, has carried out the purpose of the present invention, technical solution and beneficial effect further Describe in detail, it should be understood that the foregoing is merely the embodiment of the present invention, be not intended to limit the present invention Protection domain, all any modification, equivalent substitution, improvement and etc. on the basis of technical scheme, done should all It is included within protection scope of the present invention.

Claims

1. a kind of robot motion's method for planning track, it is characterised in that be at least used for realization continuous two CP movement locus sections Between smooth switching, the continuous two CP movement locus section includes the first CP movement locus section and the 2nd CP movement locus Section；

The described method includes：

The characteristic point of n Bezier curve is determined according to the first CP movement locus section and the 2nd CP movement locus sections, n is not Positive integer less than 4；

N Bezier curve is built according to the characteristic point, as the first CP movement locus section and the 2nd CP movement locus Orbit segment is seamlessly transitted between section, the starting point for seamlessly transitting orbit segment turns out for the first CP movement locus sections Point, the terminating point for seamlessly transitting orbit segment turn in a little for the 2nd CP movement locus sections；

Wherein, the tangent vector direction phase for seamlessly transitting orbit segment with the first CP movement locus section in the starting point With and curvature it is identical；It is described to seamlessly transit orbit segment and tangent vector side of the 2nd CP movement locus section on the terminating point It is identical to identical and curvature.

2. the method as described in claim 1, it is characterised in that before the characteristic point of the definite n Bezier curve, also Including：Plan continuous CP movement locus section.

3. method as claimed in claim 1 or 2, it is characterised in that

The n=4, the characteristic point include starting point P₀, terminating point P₄, and, the first to the 3rd intermediate point P₁、P₂、P₃；It is described The intersection point of first CP movement locus section and the 2nd CP movement locus sections is expressed as O points；

The characteristic point bag that n Bezier curve is determined according to the first CP movement locus section and the 2nd CP movement locus sections Include：

It is the second intermediate point P to determine the intersection point O₂。

4. method as claimed in claim 3, it is characterised in that described to be transported according to the first CP movement locus section and the 2nd CP Dynamic orbit segment determines that the characteristic point of n Bezier curve further includes：

If the first CP movement locus section is straightway, the intersection point O and starting point P are selected₀Between line segment on a little make For the first intermediate point P₁；

If the first CP movement locus section is arc section, the first intermediate point P is determined₁Positioned at starting point P₀Tangent line on, also, Line segment P₁P₀Length beWherein, r1 represents the radius of the first CP movement locus sections, and α 1 represents institute State the central angle of starting point.

5. the method as described in claim 3 or 4, it is characterised in that described according to the first CP movement locus section and second CP movement locus sections determine that the characteristic point of n Bezier curve further includes：

If the 2nd CP movement locus section is straightway, the intersection point O and terminating point P are selected₄Between line segment on a little make For the 3rd intermediate point P₃；

If the 2nd CP movement locus section is arc section, the 3rd intermediate point P is determined₃Positioned at terminating point P₄Tangent line on, and And line segment P₃P₄Length beWherein, r2 represents the radius of the 2nd CP movement locus sections, 2 tables of α Show the central angle at terminating point.

6. method as claimed in claim 1 or 2, it is characterised in that

The n=5, the characteristic point include starting point P₀, terminating point P₅And first to fourth intermediate point P₁、P₂、P₃、P₄；Institute The intersection point for stating the first CP movement locus section and the 2nd CP movement locus sections is expressed as O points.

7. method as claimed in claim 6, it is characterised in that described to be moved according to the first CP movement locus section and the 2nd CP Orbit segment determines that the characteristic point of n Bezier curve includes：

If the first CP movement locus section is arc section, the first intermediate point P is determined₁Positioned at the starting point P₀Tangent line On, also, line segment P₁P₀Length beWherein, r1 represents the radius of the first CP movement locus sections, α 1 represents the central angle of the starting point；

Determine the second intermediate point P₂For with the starting point P₀It is the trisection point on the arc section of endpoint with intersection point O.

8. method as claimed in claim 6, it is characterised in that described to be moved according to the first CP movement locus section and the 2nd CP Orbit segment determines that the characteristic point of n Bezier curve includes：

If the first CP movement locus section is straightway, select with the starting point P₀It is on the straightway of endpoint with intersection point O Trisection point is respectively as the first intermediate point P₁With the second intermediate point P₂。

9. such as 7 or 8 the method for claim, it is characterised in that described according to the first CP movement locus section and the 2nd CP Movement locus section determines that the characteristic point of n Bezier curve further includes：

If the 2nd CP movement locus section is arc section, the 3rd intermediate point P is determined₃For with the terminating point and intersection point O For the trisection point on the arc section of endpoint；

Determine the 4th intermediate point P₄Positioned at terminating point P₅Tangent line on, also, line segment P₄P₅Length beWherein, r2 represents the radius of the 2nd CP movement locus sections, and α 2 represents the center of circle at the terminating point Angle.

10. such as 7 or 8 the method for claim, it is characterised in that described according to the first CP movement locus section and the 2nd CP Movement locus section determines that the characteristic point of n Bezier curve further includes：

If the 2nd CP movement locus section is straightway, select using the terminating point and intersection point O as on the straightway of endpoint Trisection point is respectively as the 3rd intermediate point P₃With the 4th intermediate point P₄。

11. a kind of robot motion's trajectory planning device, it is characterised in that be at least used for realization continuous two CP movement locus sections Between smooth switching, the continuous two CP movement locus section includes the first CP movement locus section and the 2nd CP movement locus Section；Described device includes：

Characteristic point determination unit, for being determined n times according to the first CP movement locus section and the 2nd CP movement locus sections The characteristic point of Bezier curve, n are the positive integer not less than 4；

Track construction unit is seamlessly transitted, for building n Bezier curve according to the characteristic point, is transported as the first CP Dynamic to seamlessly transit orbit segment between orbit segment and the 2nd CP movement locus sections, the starting point for seamlessly transitting orbit segment is institute The point that turns out of the first CP movement locus sections is stated, the terminating point for seamlessly transitting orbit segment is the 2nd CP movement locus sections Turn in a little；

12. device as claimed in claim 11, it is characterised in that further include：

Planning unit, for before the characteristic point determination unit determines the characteristic point of n Bezier curve, planning to be continuous CP movement locus sections.

13. such as 11 or 12 described device of claim, it is characterised in that the n=4, the characteristic point include starting point P₀, eventually Stop P₄, and, the first to the 3rd intermediate point P₁、P₂、P₃；The first CP movement locus section and the 2nd CP movement locus sections Intersection point is expressed as O points；

In the characteristic point that n Bezier curve is determined according to the first CP movement locus section and the 2nd CP movement locus sections Aspect, the track construction unit that seamlessly transits is used for：It is the second intermediate point P to determine the intersection point O₂。

14. device as claimed in claim 13, it is characterised in that described according to the first CP movement locus section and second CP movement locus sections determine the aspect of the characteristic point of n Bezier curve, and the track construction unit that seamlessly transits is additionally operable to：

15. the device as described in claim 13 or 14, it is characterised in that it is described according to the first CP movement locus section and 2nd CP movement locus sections determine the aspect of the characteristic point of n Bezier curve, and the track construction unit that seamlessly transits also is used In：

16. the device as described in claim 11 or 12, it is characterised in that the n=5, the characteristic point include starting point P₀、 Terminating point P₅And first to fourth intermediate point P₁、P₂、P₃、P₄；The first CP movement locus section and the 2nd CP movement locus sections Intersection point be expressed as O points.

17. device as claimed in claim 16, it is characterised in that described according to the first CP movement locus section and second CP movement locus sections determine the aspect of the characteristic point of n Bezier curve, and the track construction unit that seamlessly transits is used for：

18. device as claimed in claim 16, it is characterised in that described according to the first CP movement locus section and second CP movement locus sections determine the aspect of the characteristic point of n Bezier curve, and the track construction unit that seamlessly transits is used for：If institute It is straightway to state the first CP movement locus section, is selected with the starting point P₀It is the trisection on the straightway of endpoint with intersection point O O'clock respectively as the first intermediate point P₁With the second intermediate point P₂。

19. the device as described in claim 17 or 18, it is characterised in that it is described according to the first CP movement locus section and 2nd CP movement locus sections determine the aspect of the characteristic point of n Bezier curve, and the track construction unit that seamlessly transits also is used In：

20. the device as described in claim 17 or 18, it is characterised in that it is described according to the first CP movement locus section and 2nd CP movement locus sections determine the aspect of the characteristic point of n Bezier curve, and the track construction unit that seamlessly transits also is used In：If the 2nd CP movement locus section is straightway, select using the terminating point and intersection point O as three on the straightway of endpoint Along ent is respectively as the 3rd intermediate point P₃With the 4th intermediate point P₄。

21. a kind of robot motion's trajectory planning device, it is characterised in that be at least used for realization continuous two CP movement locus sections Between smooth switching, the continuous two CP movement locus section includes the first CP movement locus section and the 2nd CP movement locus Section；

Described device includes：Processor and memory, the processor are stored in the software journey in the memory by operation Sequence, calling are stored in the data in the memory, at least perform following steps：

A kind of 22. robot, it is characterised in that including robot motion's trajectory planning device and controlled device, wherein：

Robot motion's trajectory planning device is used for：According to the first CP movement locus section and the 2nd CP movement locus sections Determine the characteristic point of n Bezier curve, n is the positive integer not less than 4；N Bezier curve is built according to the characteristic point, It is described to seamlessly transit rail as the orbit segment that seamlessly transits between the first CP movement locus section and the 2nd CP movement locus sections The starting point of mark section turns out point for the first CP movement locus sections, and the terminating point for seamlessly transitting orbit segment is described the Two CP movement locus sections turn in a little；Wherein, it is described to seamlessly transit orbit segment with the first CP movement locus section at described Tangent vector direction on initial point is identical and curvature is identical；It is described to seamlessly transit orbit segment with the 2nd CP movement locus section in institute State that tangent vector direction on terminating point is identical and curvature is identical；

The controlled device is used for：The continuous two CP movement locus cooked up according to robot motion's trajectory planning device Section and seamlessly transit orbit segment operation.

23. robot as claimed in claim 22, it is characterised in that the controlled device is specially：Motion arm.