Motion planning system and method for industrial robot to smoothly grasp moving objects

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...

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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 objects, and the obstacles that may exist in the environment must also be taken into account. The robot's full-body obstacle avoidance operation, which in turn brings greater challenges to smooth grasping

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