Motion planning system and method of industrial robot for smoothly grabbing moving object

A technology for industrial robots and motion planning, which is applied in the field of object manipulation of robotic systems and can solve problems such as difficulties

Active Publication Date: 2017-12-01
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology

[0008] At present, the technology of obtaining the position of objects in the environment is relatively mature and can be detected quickly. However, it is difficult to smoothly grasp the moving ob...

Method used

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  • Motion planning system and method of industrial robot for smoothly grabbing moving object
  • Motion planning system and method of industrial robot for smoothly grabbing moving object
  • Motion planning system and method of industrial robot for smoothly grabbing moving object

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Embodiment Construction

[0075] The technical solution provided by the embodiments of the present invention first needs to build a smooth grasping model that can realize the industrial robot in a complex dynamic environment, so as to describe the attractive relationship between the industrial robot and the target object, and the repulsion between the industrial robot and the obstacle Secondly, when designing the robot obstacle avoidance algorithm, the obstacle avoidance of the robot body should be considered, not just the obstacle avoidance of the end effector. Finally, it is necessary to design a reasonable smooth grasping algorithm, which can ensure that the robot moves and grasps smoothly according to the trajectory of the smooth grasping algorithm. In order to ensure the success of industrial robots in smoothly grasping moving objects, the above three points need to be considered;

[0076] Therefore, the motion planning system designed in this embodiment for an industrial robot to smoothly grab mo...

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Abstract

The invention discloses a motion planning system and method of an industrial robot for smoothly grabbing a moving object. The motion planning system of the industrial robot for smoothly grabbing the moving object comprises a smooth grab model building module, an obstacle avoidance algorithm module and a smooth grab algorithm module. The smooth grab model building module is used for describing the relative relationship between the target position and an end actuator and the relationship between an obstacle and the arm plane of the industrial robot so as to generate an attraction vector and a rejection vector. The obstacle avoidance algorithm module is used for generating the motion for avoiding the obstacle so as to avoid the moving obstacle. The smooth grab algorithm module is used for generating the smooth grab motion according to a smooth grab algorithm in the mode of using the attraction vector and the speed of the moving object as the input under the condition that the obstacle leaves from a collision-free region, so that the smooth grab operation is achieved. By the adoption of the motion planning system and method of the industrial robot for smoothly grabbing the moving object, the purpose that the industrial robot smoothly grabs the moving object in the working space in the complex industrial environment can be achieved, and therefore the damage to the object to be grabbed is avoided.

Description

technical field [0001] The invention relates to an object manipulation technology of a robot system, in particular to a motion planning system and method for an industrial robot to smoothly grasp a moving object. Background technique [0002] The grasping operation technology of robots in a static environment is becoming more and more mature, and is widely used in industrial scenarios, such as handling and assembly. However, the grasping operation technology in the current industrial environment is point-to-point operation. For fragile and fragile As far as objects are concerned, such an object grasping operation can easily cause damage to the object. Therefore, it is a difficult and necessary task to consider the smooth grasping operation of fragile and fragile objects. For this reason, the smooth grasping movement of industrial robots The object has become a key technology that is urgently needed in the current industrial environment. [0003] For smooth grasping of movin...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1666G05B2219/39082
Inventor 尚伟伟张驰丛爽宋方井
Owner UNIV OF SCI & TECH OF CHINA
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