Robot motion planning method, path planning method, grabbing method and devices thereof

A robot movement and robot technology, which is applied in the computer field, can solve problems affecting industrial automation and robot movement stuttering, and achieve the effects of improving intelligence, smooth grasping, and avoiding collisions

Active Publication Date: 2020-08-07
MECH MIND ROBOTICS TECH LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method is easy to cause the robot movement to be

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  • Robot motion planning method, path planning method, grabbing method and devices thereof
  • Robot motion planning method, path planning method, grabbing method and devices thereof
  • Robot motion planning method, path planning method, grabbing method and devices thereof

Examples

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Embodiment Construction

[0064] Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

[0065] The following describes the robot motion planning method, device, electronic equipment, and storage medium in the embodiments of the present application with reference to the accompanying drawings.

[0066] In the first aspect, the robot motion planning method of the present application is introduced.

[0067] In some embodiments, robot motion planning is based on collision degree detection, which is defined as a collision detection between an object (or a certain part of the robot) to be operated by the robot and a col...

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Abstract

The invention discloses a robot motion planning method, a path planning method, a grabbing method and a grabbing device. The method comprises the following steps: 1, when the robot operates the to-be-operated object, the robot operates the to-be-operated object, combining a space model of a real scene where the object is located; performing collision detection on the object and a collision objectin the space model; according to the collision sensitivity of the object and the collision sensitivity of the collision object, determining a motion planning scheme of the robot formed by operating the object by the robot corresponding to a corresponding collision detection result; therefore, when the robot operates the corresponding object, the robot can move based on the motion planning scheme,the phenomenon that in the process that the robot operates the object, the robot gets stuck in the motion process is avoided, the motion of the robot is smoothened, and the intelligent degree of industrial operation of the robot is improved.

Description

technical field [0001] The present application relates to the field of computer technology, and in particular to a robot motion planning method, a path planning method, a grasping method and a device thereof. Background technique [0002] With the development of industrial intelligence, it is becoming more and more popular to use robots instead of humans to operate objects (such as industrial parts, industrial boxes) (such as grabbing, moving, placing, etc.). During the operation of the robot, it is generally necessary to change the object from one state to another. This process should avoid the collision between the object grasped by the robot and other objects, and make the robot move efficiently and smoothly to avoid danger. [0003] In related technologies, real-time collision detection is performed by installing sensors on a solid robot arm. However, this method is easy to cause the robot movement to be stuck, which affects the realization of industrial automation. C...

Claims

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Application Information

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IPC IPC(8): G01C21/20B25J9/16
CPCG01C21/20B25J9/1666B25J9/1669B25J15/0616G05B2219/39536G05B2219/40442B25J9/1612B25J9/1653G01C21/34B25J15/0683
Inventor 李玺朱溪女丁有爽邵天兰段文杰刘冰王正
Owner MECH MIND ROBOTICS TECH LTD
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