A method for motion planning of a mechanical arm, a mechanical arm, and a robot

Abstract

The embodiment of the present invention relates to the technical field of mechanical arm control, and in particular discloses a method for motion planning of a mechanical arm, a mechanical arm, and a robot. The arm angle value, and generate the upper boundary curve and the lower boundary curve according to the arm angle range and identify the sudden arm angle range existing in the arm angle range of each posture, and calculate according to the initial arm angle value and the arm angle range of the initial pose Arm angle ratio, according to the preset correction model, calculate the arm angle of the pose corresponding to the mutation arm angle range, calculate the arm angle corresponding to other poses according to the arm angle ratio, and finally according to the pose of the end of the robot arm in the motion track, And the arm angles of each posture, calculate the angle of the manipulator joint corresponding to each posture. Through the above method, the embodiment of the present invention can make the joint rotation angle of the mechanical arm continuous during the movement, and can ensure the 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 an optimal set of solutions to ensure that the angle and angular velocity are continuous during motion, and Discontinuous joint angle changes will cause shaking of the robot movement, seriously affecting the robot movement effect and easily causing damage to the robot

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