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Dynamic obstacle avoiding system for capturing process of industrial robot and method of dynamic obstacle avoiding system

An industrial robot, dynamic obstacle avoidance technology, applied in the field of object manipulation of robot systems

Active Publication Date: 2016-12-07
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology

[0008] Aiming at the problem of dynamic obstacle avoidance for industrial robots in complex unstructured environments, the present invention provides a dynamic obstacle avoidance system and method for industrial robots in the grasping process, in order to successfully avoid moving obstacles in the collision area, thereby realizing dynamic obstacle avoidance. Obstacle Crawl

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  • Dynamic obstacle avoiding system for capturing process of industrial robot and method of dynamic obstacle avoiding system
  • Dynamic obstacle avoiding system for capturing process of industrial robot and method of dynamic obstacle avoiding system
  • Dynamic obstacle avoiding system for capturing process of industrial robot and method of dynamic obstacle avoiding system

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Embodiment Construction

[0063] The technical solution provided by this embodiment can realize obstacle avoidance and grasping of industrial robots in a dynamic environment. On the one hand, the relative motion relationship between the robot end effector and the moving obstacle and the update direction of the repulsion vector are obtained by the repulsion vector and eddy current algorithm; on the other hand, the dynamic obstacle avoidance algorithm, an efficient obstacle avoidance algorithm, is used to solve The position to which the end effector should move to successfully avoid obstacles. Therefore, it is necessary to construct the repulsion vector between the end effector and the obstacle, and use the eddy current algorithm to update the direction of the repulsion vector, so as to design a dynamic obstacle avoidance method based on the eddy current algorithm to avoid dynamic obstacles and complete the grasp. Specifically,

[0064] In this embodiment, a dynamic obstacle avoidance system in the gras...

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Abstract

The invention provides a dynamic obstacle avoiding system for a capturing process of an industrial robot and a method of the dynamic obstacle avoiding system. The dynamic obstacle avoiding system comprises a rejection vector module, an eddy algorithm module and a dynamic obstacle avoiding algorithm module. The rejection vector module is used for establishing a relative motion relationship between an end effector and an obstacle to obtain a rejection vector; the eddy algorithm module is used for updating the direction of the rejection vector according to an eddy algorithm; and the dynamic obstacle avoiding algorithm module is used for acquiring the position of the end effector according to the rejection vector so as to avoid the obstacle. By the dynamic obstacle avoiding algorithm, the industrial robot successfully avoids the obstacle and finishes capturing under the condition that the moving obstacle exists in an industrial complex environment.

Description

technical field [0001] The invention relates to an object manipulation technology of a robot system, in particular to a dynamic obstacle avoidance system and a method thereof in the grasping process of an industrial robot. Background technique [0002] Traditional industrial fields usually require robots to repeatedly complete some tasks in a static environment, such as assembly and transportation, among which the most basic and important task is object grasping. However, when the industrial environment changes, such as some dynamic changes, the robot must make corresponding adjustments in real time. When the obstacle starts to move, it becomes a task to avoid the obstacle and grasp it. rather difficult task. For this reason, the dynamic obstacle avoidance method in the grasping process of industrial robots has become a key technology that is urgently needed in the current industrial environment. [0003] For the situation where moving obstacles appear during the grasping ...

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Application Information

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IPC IPC(8): B25J9/18
CPCB25J9/1666
Inventor 尚伟伟杜爽张驰丛爽
Owner UNIV OF SCI & TECH OF CHINA
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