A motion planning method and system for a robot to grasp a flying object

A motion planning and robotics technology, applied in the field of object manipulation of robotic systems, can solve problems such as the difficulty of real-time prediction of flying objects, and achieve the effect of compensating for existing errors, reducing complexity, and improving accuracy

Active Publication Date: 2021-04-23
UNIV OF SCI & TECH OF CHINA
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] At present, the motion capture system can be used to realize the real-time positioning of the flying objects of the flying objects. However, it is still difficult to predict the trajectory of the flying objects in real time, and because of the error in the prediction, it is necessary to continuously predict the trajectory. In order to reduce errors, for the robot's grasping motion planning, the grasping position is always changing, which brings greater challenges to grasping flying objects

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A motion planning method and system for a robot to grasp a flying object
  • A motion planning method and system for a robot to grasp a flying object
  • A motion planning method and system for a robot to grasp a flying object

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0021] The embodiment of the present invention provides a motion planning method for a robot to grab a flying object. In order to ensure the success of the robot grabbing a flying object, the following three aspects need to be considered: 1. It is necessary to establish a model that can predict the trajectory of the flying object during flight ; 2. It is necessary to determine the grasping position and time of the robot according to the trajectory o...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a motion planning method and system for a robot to grab a flying object. Based on a motion capture system, it can accurately locate the flying object in real time, and ensure the subsequent prediction of the trajectory of the flying object and the accuracy of the robot grabbing the flying object. The accuracy of trajectory planning; at the same time, the algorithm based on support vector regression is used to model the trajectory of flying objects, which reduces the complexity of modeling the trajectory of flying objects and improves the accuracy of modeling; in addition, using An algorithm based on Gaussian mixture regression is used to model the trajectory of the robot when it grabs the flying object. When the position of the flying object changes, it can still generate a trajectory to reach the target position, which makes up for the error in the prediction of the trajectory of the flying object. .

Description

technical field [0001] The invention relates to the technical field of object manipulation of a robot system, in particular to a motion planning method and system for a robot to grab a flying object. Background technique [0002] The robot's grasping operation technology for static objects and objects on the conveyor belt, such as static or low-speed objects, is relatively mature, but there are still many challenges in the grasping of thrown high-speed flying objects. In daily production In life, the grasping of flying objects is still a necessary task. Therefore, the motion planning of robots grasping flying objects has become a key technology. [0003] The robot grabs flying objects, the whole task includes: [0004] (1) Real-time identification and positioning of high-speed moving flying objects in the environment; [0005] (2) Be able to predict the trajectory of flying objects; [0006] (3) In view of the large error in predicting the trajectory of the flying object,...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664
Inventor 尚伟伟张驰丛爽宋方井葛维
Owner UNIV OF SCI & TECH OF CHINA
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap