Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Robot motion planning method based on DMPs and corrected obstacle avoidance algorithm

A robot movement and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the pain points of obstacle avoidance effects, achieve the effect of maintaining similarity, reducing the loss of free space, and improving obstacle avoidance capabilities

Active Publication Date: 2020-09-08
BEIJING INSTITUTE OF TECHNOLOGYGY
View PDF12 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the combination of DMPs and traditional steering behavior methods for motion planning in harsh environments is still a major pain point. Therefore, improving the obstacle avoidance algorithm to assist DMPs to better complete motion planning tasks is an urgent need to be solved. question

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot motion planning method based on DMPs and corrected obstacle avoidance algorithm
  • Robot motion planning method based on DMPs and corrected obstacle avoidance algorithm
  • Robot motion planning method based on DMPs and corrected obstacle avoidance algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0058] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0059] The modified obstacle avoidance method is a new practical technology developed based on the traditional steering behavior method and considering the obstacle avoidance effect and the characteristics of DMPs. Its most prominent feature is that it can eliminate jitter and improve the obstacle avoidance ability of the system. At the same time, it can keep the attributes of the expected trajectory as much as possible, reduce the loss of free space, and adapt to the dynamic changes of obstacles. The significance of combining the two is that it can realize motion planning in an obstacle environment. DMPs are responsible for learning the teaching trajectory and generating the expected trajectory, and modifying the obstacle avoidance algorithm to assist DMPs to achieve the obstacle avoidance effect.

[0060] The invention provides the robot motion planning ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a robot motion planning method based on DMPs and a corrected obstacle avoidance algorithm. The obstacle avoidance effect can be improved, the DMPs can be assisted in better finishing a motion planning task, and according to the technical scheme, the method comprises the following step that a dynamic motion element DMPs method is adopted for planning a barrier-free path froma starting position to a target position for a mechanical arm of a robot as an expected trajectory. The corrected obstacle avoidance algorithm serves as a coupling term to be added into a DMPs second-order system to be used for generating an obstacle avoidance trajectory, the generated obstacle avoidance trajectory is used for serving as the motion trajectory of the robot, and preferably, the corrected obstacle avoidance algorithm comprises one or combination of multiple of an improved steering behavior method, an improved dynamic approach method and an improved dynamic obstacle avoidance method.

Description

technical field [0001] The invention belongs to the field of mechanical arm motion planning, in particular to a mechanical arm motion planning method based on DMPs and modified obstacle avoidance algorithms. Background technique [0002] The robotic arm is a key component of industrial automation, health care and aerospace unmanned systems, and it is one of the most active research directions in the fields of intelligent robotics and artificial intelligence. The robotic arm should not only learn to imitate the grasping and spatial movement functions of the human hand and arm, but also have autonomous capabilities such as task analysis, environmental perception, motion planning, trajectory tracking, and automatic obstacle avoidance. Its research involves science and technology fields such as machinery, kinematics and dynamics, electronics, computers, information processing, control and artificial intelligence. [0003] DMPs are defined as action units of stable nonlinear att...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1666
Inventor 翟弟华夏志强吴浩存夏元清张金会戴荔邹伟东闫莉萍孙中奇崔冰刘坤
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com