Mechanical arm motion planning method, mechanical arm and robot

Abstract

The invention relates to the technical field of mechanical arm control, and particularly discloses a mechanical arm motion planning method, a mechanical arm and a robot. The method comprises the following steps that the arm angle range and the initial arm angle value of each pose in the motion trail of the tail end of the mechanical arm are calculated, an upper boundary curve and a lower boundarycurve are generated according to the arm angle range, the angle range of a sudden change arm existing in the arm angle range of each pose is recognized, the angle proportion of the arm angle is calculated according to the angle value of the starting arm and the angle range of the arm angle of the initial pose, the arm angle of the pose corresponding to the angle range of the mutant arm is calculated according to a preset correction model, the arm angle corresponding to the other pose is calculated according to the angle proportion of the arm, and finally, according to the pose of the tail endof the mechanical arm in the motion track, the angle of the joint of the mechanical arm corresponding to each pose is calculated according to the arm angle of each pose. By means of the mode, the mechanical arm motion planning method can enable the rotating angle of the joint of the mechanical arm to be continuous during movement, and can ensure continuous and stable movement of the mechanical arm.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robotic arm control technology, and in particular, relate to a method for motion planning of a robotic arm, a robotic arm, and a robot. Background technique [0002] A robot refers to a machine that simulates human behavior or thought and simulates other living things. With the development of artificial intelligence technology and mechanical design technology, the flexibility of robots is getting higher and higher, and the degree of intelligence is getting higher and higher, which makes the application range of robots more and more extensive. [0003] In the process of realizing the present invention, the inventors of the present invention found that the motion planning of the manipulator has always been the focus of research in robotics. Generally, the poses of the starting point and the end point are known for this type of problem. How to choose a complete and optimal Path is the ...

AI Technical Summary

Problems solved by technology

For a general six-degree-of-freedom serial robot, the path planning process is relatively mature, because the number of inverse kinematics solutions for a six-degree-of-freedom robot is limited, and the current moment only needs to select a group of joints with the smallest angle difference from the previous moment. The angle value is enough, but for a higher-dimensional robot, such as a seven-degree-of-freedom robot, each end pose corresponds to an infinite number of joint values, so it is difficult to choose a set of optimal solutions to ensure that the angle and angular velocity are continuous during motion , the discontinuous joint angle change will cause the robot to shake, which will seriously affect the robot's movement effect and easily cause damage to the robot.

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