Robot motion path planning method

A technology of robot motion and path planning, applied in the direction of using feedback control, etc., can solve problems such as no mention of processing methods, no mention of mentions, etc., to improve adaptability and environmental space recognition capabilities, high work efficiency, and movement independence enhanced effect

Inactive Publication Date: 2017-01-25
湖南晖龙集团股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method does not mention how to avoid obstacles effectively, and does not mention related processing methods for the precise control of the robotic arm

Method used

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Embodiment 1

[0030] The invention provides a method for planning a motion path of a robotic arm of a robot, wherein the robot includes a host, a robotic arm, a microcontroller, and a camera; the host is connected to the microcontroller; the microcontroller is connected to a steering gear on the robotic arm, It is used to control the motion of the mechanical arm; the host is connected to the camera; the host is equipped with a ROS operating system; Moveit tools and OMPL (open source motion planning library) are installed in the ROS operating system; the host is Intel dual-core four threads i7 industrial micro-host; the camera is an RGBD depth camera; the microcontroller can control the rotation and movement of the steering gear in space with 7 degrees of freedom.

[0031] The robot motion path planning method, the specific process is as follows:

[0032] 1) The camera collects the depth information of the surrounding environment, uses the ROS operating system to convert it into spatial poin...

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PUM

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Abstract

The invention provides a robot motion path planning method. The robot comprises a host, a mechanical arm, a microcontroller and a camera, wherein the host is connected with the microcontroller, and the microcontroller is connected with a steering gear on the mechanical arm and is used for controlling the motion of the mechanical arm; the host is connected with the camera. A RGBD (Red Green Blue Depth) camera of the robot can shoot information in the captured range to realize the follow-up of the human body and the human arm; the degree of freedom and the degree of precision of the mechanical arm of the robot in the motion planning process can be improved, and are fused on time, space and data to improve the system adaptability and environmental space recognition ability, so that the robot moves in accordance with a correct planning trajectory, and thus the path planning of the mechanical arm of the robot can be realized at high degree of freedom, the work efficiency is high, and the computation amount is small.

Description

technical field [0001] The invention relates to the field of mechanical arm control, in particular to a robot motion path planning method. Background technique [0002] With the development of information technology, information technology has been widely applied to people's way of life and work. If there is a more effective use of existing information technology, people have not stopped exploring. The field of robotics is a system integrating computer, machinery, sensing technology, information processing technology, image processing and recognition technology, language recognition and processing technology, control technology and communication technology. Existing operating systems such as Player, MOOS, CARMEN, YARP, Orocos, and Microsoft Robotics Studio cannot meet the needs of practical applications. ROS operating system (RobotOperatingSystem) is an open source robot operating system that can provide functions similar to the operating system, providing hardware abstrac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 李景龙李朝晖
Owner 湖南晖龙集团股份有限公司
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