Path planning method and device, mechanical arm controller and readable storage medium
A path planning, robotic arm technology, applied in the field of robotics, can solve problems such as difficulty in searching for an effective path and difficulty in avoiding obstacles for the robotic arm
Active Publication Date: 2019-06-14
ZHEJIANG DAHUA TECH
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[0004] However, when there are obstacles such as concave obstacles between the starting point and the end point, it is difficult for the above-mentioned path planning method to search for an effective path, making it difficult for the manipulator to avoid obstacles
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[0069] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0070] The path planning method provided by the embodiment of this application can be applied to such as figure 1 in the robotic arm shown. Wherein, the mechanical arm may be a conventional mechanical arm, or a robot, or other mechanical structures that require path planning. The mechanical arm is generally composed of multiple movable joints and at least one actuator. Each joint can be rotated, slid or driven in other ways, so the mechanical arm has multiple degrees of freedom, such as 4 degrees of freedom, 6 degrees of freedom, etc.; specifically, the mechanical The ar...
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The invention relates to a path planning method and device, a mechanical arm controller and a readable storage medium. The method comprises the following steps: carrying out random tree growth processing according to a sampling space of a joint space, a starting point configuration of a task starting point of a mechanical arm in the joint space of the mechanical arm and a finishing point configuration of a task finishing point in the joint space, and pre-set first step length second step length, so as to obtain a plurality of tree nodes in a random tree, wherein the first step length is a steplength for the growth from a new tree node to a sampling point and the second step length is a step length for the growth from the new tree node to a target tree node; in a random tree growth processing process, judging a local minimum state; when judging that the growth of the random tree is at the local minimum state, adjusting the first step length and the second step length, so as to enable the first step length to be greater than the second step length; and obtaining an initial path from the task starting point to the task finishing point in the joint space according to the plurality oftree nodes of the random tree. By adopting the method provided by the invention, the local minimum state can be avoided in the growth process of the random tree.
Description
technical field [0001] The present application relates to the technical field of robots, in particular to a path planning method, device, robot arm controller and readable storage medium. Background technique [0002] Robots can be widely used in many fields such as elderly care, medical operation assistance, entertainment and home furnishing, and industrial production, and the path planning of the robotic arm is one of the core contents of robot research. Path planning means that for a determined multi-degree-of-freedom manipulator, when a starting point and an end point are given, a path that satisfies the constraints and has a lower cost is calculated, so that the manipulator can move from the starting point to the end point without collision. [0003] A path planning method for a manipulator is: after parametrically modeling the manipulator and establishing a forward and inverse kinematics model, the AABB (Axis-aligned bounding box) method is used to establish the AABB o...
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Inventor 骆思宇汪鹏飞卢维殷俊
Owner ZHEJIANG DAHUA TECH