The invention discloses a mechanical arm
motion planning method and
system, and the method comprises the steps: obtaining target and obstacle point clouds through a 3D camera, and carrying out the registration to obtain
pose information, carrying out the URDF modeling and MoveIt configuration of a mechanical arm, and carrying out the improvement of an RRT-connect
algorithm, and the method comprises the steps: introducing a dynamic target bias, directional
heuristic sampling and elastic band
smoothing algorithm mechanism, the planning efficiency and the path smoothness are improved; performing
inverse kinematics solution on the path points to obtain a joint track; optimizing the trajectory by adopting self-adaptive polynomial interpolation, and performing cubic or quintic polynomial interpolation according to the complexity of an interpolation section; and finally, the track is converted into a control instruction through a
Modbus TCP protocol, and the mechanical arm is driven to safely move to the target position. According to the method, the planning speed, the track quality and the motion stability of the mechanical arm in the complex environment are remarkably improved.