Mechanical arm moving path planning system and method
A technology for moving paths and planning systems, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of overall planning limitations and large amount of calculation, and achieve the effect of simple structure and convenient use.
Pending Publication Date: 2017-09-15
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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[0002] At present, the path planning algorithm for manipulator movement mainly includes genetic algorithm and ant colony algorithm. The genetic algorithm has the characteristics of overall optimization and is suitable for path planning at each joint, but the amount of calculation is large; the ant colony algorithm has optimality for local path planning. However, there are limitations to the overall planning
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[0022] The invention provides a moving path planning system and method of a manipulator, which has a simple structure and is easy to use. Combining the advantages of the genetic algorithm and the ant colony algorithm, the joints and the end devices are controlled separately, which can not only give full play to the characteristics of the overall planning of the genetic algorithm, It can also take advantage of the local optimal characteristics of the ant colony algorithm to ensure the accuracy of path planning and save the amount of calculation.
[0023] In order to better understand the above-mentioned technical solution, the above-mentioned technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.
[0024] Such as figure 1 Shown, a kind of robotic arm mobile path planning system and method, comprises binocular vision system 1, image processing module 2, coordinate extraction module 3, model building...
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The invention provides a mechanical arm moving path planning system and method. The system comprises a binocular vision system, an image processing module, a coordinate extraction module, a model building module and a path planning module. The binocular vision system carries out image collection on surroundings and transmits images to the image processing module to be processed. Coordinate values of obstacles are extracted through the coordinate extraction module. The model building module calls coordinate data and builds a mechanical arm moving model. The model building module is connected with the path planning module downwards. According to the mechanical arm moving path planning system and method, the structure is simple, use is convenient, a joint and an end effector are controlled respectively by combining the advantages of the genetic algorithm and the advantages of the ant colony algorithm, the characteristic of overall planning of the genetic algorithm can be brought into play, the characteristic of local optimization of the ant colony algorithm can also be brought into play, path planning accuracy is ensured, and meanwhile the calculated quantity is saved.
Description
technical field [0001] The invention relates to the technical field of path planning, in particular to a system and method for planning a moving path of a manipulator. Background technique [0002] At present, the path planning algorithm for manipulator movement mainly includes genetic algorithm and ant colony algorithm. The genetic algorithm has the characteristics of overall optimization and is suitable for path planning at each joint, but the amount of calculation is large; the ant colony algorithm has optimality for local path planning. But there are limitations to the overall planning. Contents of the invention [0003] The invention provides a moving path planning system and method of a manipulator, which has a simple structure and is easy to use. Combining the advantages of the genetic algorithm and the ant colony algorithm, the joints and the end devices are controlled separately, which can not only give full play to the characteristics of the overall planning of t...
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IPC IPC(8): B25J9/16
CPCB25J9/163B25J9/1666B25J9/1697
Inventor 贾桂红曹锋
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)