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Manipulator path planning method and device

A path planning and manipulator technology, applied in the field of manipulators, can solve problems such as bending, turning, joints, mechanical structure wear, and reducing moving speed

Active Publication Date: 2019-09-20
SHENZHEN DORABOT ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the moving path of the manipulator is segmented, and the path is mainly composed of broken line segments. Therefore, when the manipulator moves along the moving path, its moving track often bends and turns, which reduces the moving speed in disguise, and also increases joints and mechanical structures. wear and tear

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  • Manipulator path planning method and device

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Embodiment Construction

[0054] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention.

[0055] It should be noted that: in the drawings, the same or similar symbols represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, but not all of the embodiments. In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0056] In this document, "first", "second" and so on are only used to d...

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Abstract

The invention provides a method and device for planning paths of a manipulator. The method comprises the following steps that firstly, the first path of the manipulator is obtained and comprises two or more connected broken line segments; then, N data points are selected on the first path and include M data points selected on the two or more broken line segments, M is larger than or equal to N andsmaller than or equal to two, and based on the N data points, part or all of the line segments of the first path are fitted through a B spline algorithm; and finally, a B spline curve and the secondpath including the B spline curve are obtained. According to the method for planning the paths of the manipulator, the original broken-line-type paths of the manipulator are fitted into a curve, the moving efficiency of the manipulator is improved, and abrasion of joints and mechanical structures is reduced.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a method and device for planning manipulator paths. Background technique [0002] A manipulator is an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. By manipulating the manipulator to move along the set path to replace the repetitive labor of human beings, the mechanization and automation of production can be realized. At present, the moving path of the manipulator is segmented, and the path is mainly composed of broken line segments. Therefore, when the manipulator moves along the moving path, its moving track often bends and turns, which reduces the moving speed in disguise, and also increases joints and mechanical structures. wear and tear. Contents of the invention [0003] (1) Purpose of the invention [0004] In order to overcome at least one def...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
Inventor 邓耀桓
Owner SHENZHEN DORABOT ROBOTICS CO LTD