Spatial motion planning method of multi-degree-of-freedom robot

A space movement and robot technology, applied in the field of intelligent robots, can solve problems such as over-planning, over-planning of collision detection, waste of computing power resources, etc., to achieve the effect of avoiding over-planning and meeting real-time requirements

Active Publication Date: 2021-03-02
张耀伦
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, while the above algorithm does not effectively solve related problems, it also has the problem of over-planning, resulting in a waste of computing resources
Although the RRT algorithm solves the problem of planning speed when grasping scattered targets, the convergence speed of the algorithm needs to be improved for the constraints around the grasping target, especially when it is close to the grasping target; at the same time, the collision detection of the path process described by other algorithms currently There is over-planning or inefficient time-consuming

Method used

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  • Spatial motion planning method of multi-degree-of-freedom robot
  • Spatial motion planning method of multi-degree-of-freedom robot
  • Spatial motion planning method of multi-degree-of-freedom robot

Examples

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Embodiment 1

[0026] Example 1: Motion planning of a six-axis robot

[0027] Compared with robots with less degrees of freedom, generally speaking, six-axis robots or redundant robots can complete tasks in full posture. However, when there are interferences such as obstacles in the environment, it will have an impact on the operation of the robot, especially in the case of bulk grabbing in industrial production, the interference caused by obstacles in the surrounding environment of task targets such as baskets and other workpieces The impact is far more than that of other obstacles in the path environment, and in general, under the requirements of 5S and other requirements in industrial occasions, unnecessary obstacles need to be removed, and unnecessary obstacles will not be added artificially. Therefore, this embodiment is described with this scenario, such as figure 1 Shown:

[0028] Step 1: Initialize the robot environment, obtain the initial state of the robot, and obtain the spatial...

Embodiment 2

[0037] Embodiment 2: Motion planning of five-axis robots and other robots with less degrees of freedom

[0038] Due to the lack of one or more degrees of freedom, the robot's workspace is incomplete. At this time, the robot often cannot operate according to the optimal posture of the workpiece. Therefore, from the perspective of completing the entire work task, the feasible posture becomes the "best posture" under the entire work task.

[0039] Step 1: Initialize the robot environment, obtain the initial state of the robot, and obtain the spatial information of the robot, surrounding environment obstacles and task targets through a positioning system (such as: 3D camera, laser radar, etc.);

[0040] Wherein, initializing the robot, obtaining the initial state of the robot includes at least one of the following information: initial position posture and / or joint angle information of the robot;

[0041] Step 2: Determine the feasible area, and calculate the optimal attitude info...

Embodiment 3

[0050] Embodiment 3: Motion planning for other obstacles in the path process environment

[0051] The above two embodiments are all carried out in a working environment where there are no unnecessary obstacles in the process of the robot approaching the task target in a normal industrial setting. When there are interfering obstacles in the robot's motion process environment, further motion planning judgment measures are required in the process of performing step three.

[0052] The specific description is as follows: When there are other obstacles in the path of the robot reaching the surrounding environment of the mission target, firstly, the motion angles of other joints are reversely solved according to the feasible posture and the position of the mission target, and then the spatial information of each joint is calculated through the kinematics forward solution and Consolidate the spatial information of the connecting rod and the peripheral equipment of the robot, and judg...

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Abstract

The invention discloses a spatial motion planning method of a multi-degree-of-freedom robot. The method comprises the following steps: S1, acquiring initial state information of the robot, and acquiring spatial information of the robot, surrounding environment obstacles and task targets; S2, determining a feasible region, and calculating optimal posture information and feasible posture information, wherein the feasible region is a spatial region which is formed by combining the position of the task target with the optimal posture or the feasible posture of the robot, the surrounding environment obstacles and other task targets, and in the feasible region, the robot can complete the designated task target; and S3, judging whether a proximity vector of a robot end effector can fall into thefeasible region or not, if the proximity vector of the robot end effector can fall into the feasible region, executing a planning task in the optimal posture or the feasible posture by the robot, andif the proximity vector of the robot end effector cannot fall into the feasible region, reselecting the task target. According to the spatial motion planning method, excessive planning of the robot isavoided or reduced through posture analysis, the operation efficiency of the robot is improved, and the real-time requirement in industrial control is better met.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a space motion planning method for a multi-degree-of-freedom robot. Background technique [0002] With the improvement of people's living standards, people's demand for personalized products continues to increase. The "multi-variety, small-batch" production form has promoted the application of robots. There are huge applications of multi-degree-of-freedom space robots in the field of automation, but in general, multi-degree-of-freedom industrial robots with flexible production capabilities require a structured working environment. At the same time, constraints in robot motion planning affect the development and application of robots. Especially when the end effector handles scattered parts, there are still many problems. [0003] An industrial robot is a multi-input multi-output, nonlinear, and strongly coupled high-dimensional complex system. The problem of robot control can ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1661Y02P90/02
Inventor 张耀伦张煜张秀芬张盼盼张增伦
Owner 张耀伦
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