Robotic arm path planning method, device and robotic arm

A technology of path planning and local path planning, which is applied in the field of robotic arms and can solve problems such as planning failures

Active Publication Date: 2022-03-11
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, in the existing Cartesian planning of the manipulator, when the initial position and the end position are far away, due to the existence of multiple constraints, the planning failure is prone to occur.

Method used

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  • Robotic arm path planning method, device and robotic arm
  • Robotic arm path planning method, device and robotic arm
  • Robotic arm path planning method, device and robotic arm

Examples

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Embodiment Construction

[0024] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0025] figure 1 A schematic flowchart of a path planning method for a robot arm provided by an embodiment of the present invention is shown. The method is applied to robotic arms such as figure 1 As shown, the method includes partial path planning, which includes:

[0026] Step 110, collecting several sampling speeds within the preset speed range;

[0027] Wherein, the preset speed range refers to a preset range of a maximum speed and a mini...

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Abstract

The embodiment of the present invention relates to the technical field of mechanical arms, and discloses a path planning method, device and robot for a mechanical arm. Wherein, the path planning method of the manipulator includes local path planning, and the local path planning includes: collecting several sampling speeds within a preset speed range; according to several sampling speeds and preset time intervals, determining the corresponding according to the preset evaluation model, evaluate the partial paths without obstacles in the partial paths; select the partial path with the best evaluation result as the optimal partial path. Through the above manner, the embodiment of the present invention can dynamically plan the path of the robot arm.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robotic arms, and in particular to a path planning method and device for a robotic arm, and a robotic arm. Background technique [0002] With the rapid development and popularization of information technology and the Internet, intelligent robot technology has developed by leaps and bounds. Intelligent robots are widely used in education, finance, medical care, transportation, security, electric power and many other fields, showing huge application advantages and markets. potential. As an important component of an intelligent robot, the robotic arm can accurately plan its path directly affects the working ability and efficiency of the robot. [0003] At present, in the existing Cartesian planning of manipulators, when the initial position and the end position are far away, due to the existence of multiple constraints, the phenomenon of planning failure is prone to occur. Contents o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 李连中邱胜林
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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