Mechanical arm obstacle avoidance path planning method and device and storage device

Abstract

The invention provides a mechanical arm obstacle avoidance path planning method and device and a storage device. The mechanical arm obstacle avoidance path planning method is characterized in that animproved A * algorithm is adopted, the obstacle avoidance path of the tail end of a mechanical arm from a starting node to a target node is searched, so that the problem that the mechanical arm collides with an obstacle is solved, smoothing treatment is carried out on the obstacle avoidance path according to a cubic uniform B-spline curve method, so that the problem that due to the fact that the mechanical arm shakes, the control error is large is solved. The mechanical arm obstacle avoidance path planning device and the storage device are used for achieving the mechanical arm obstacle avoidance path planning method. The mechanical arm obstacle avoidance path planning method and device and the storage device have the beneficial effects that through the provided technical scheme, the mechanical arm is prevented from colliding with the obstacle in the working process, the control error of the mechanical arm is reduced, the path tracking precision of the mechanical arm is improved, the mechanical vibration generated in the movement process of the mechanical arm is reduced, and the service life of the mechanical arm is prolonged.

Description

technical field [0001] The present invention relates to the technical field of robot obstacle avoidance, and in particular to a robot obstacle avoidance path planning method, device and storage device. Background technique [0002] In the ever-changing development trend of human science and technology, robot technology has become one of the inevitable development trends of high-tech with its wide range of applications, flexible use methods, and unique requirements in special operations, and has therefore been favored by various countries. More and more attention. In recent years, the application of robotics in the field of aerospace has become more and more important. There is no doubt that robotic arms play a vital role in aerospace. The working performance and stability of the manipulator directly affect many aspects of the on-orbit operation. Obstacle avoidance path planning is a very important link in the movement process of the robot arm, which is related to the accu...

AI Technical Summary

Problems solved by technology

At present, most of the research on obstacle avoidance path planning of manipulators does not consider the problem of real-time obstacle avoidance path planning and the situation of dynamic obstacles in the environment, resulting in related methods that cannot be generally applied to more complex scenarios.

Images