Mechanical arm motion planning method

Abstract

The invention discloses a mechanical arm motion planning method. The method is specifically implemented according to the following steps that S1, a common space rule object is used for approximately enveloping an obstacle to carry out obstacle modeling; S2, an initial position and a target position of a mechanical arm are given, and an inverse solution of the target position is obtained through aninverse kinematics method; S3, a track is calculated through a p-rrt algorithm; S4, a seven-degree-of-freedom mechanical arm model is imported, a mechanical arm target position is given, a target position inverse solution is obtained through inverse kinematics, a path node of the obtained track serves as an input, and smooth optimization processing is carried out on a path by using a B spline curve; and S5, a simulation experiment is carried out in a Matlab, wherein simulation comparison optimized after the B spline curve is added compares path curves before and after smoothing, verifies effectiveness, and finishes mechanical arm motion planning, thereby solving the problem of poor smoothness of a planned path in the prior art.

Description

technical field [0001] The invention belongs to the technical field of mechanical arm motion planning, and relates to a mechanical arm motion planning method. Background technique [0002] The robot motion planning problem is an important problem in the field of robot research. It is mainly composed of path planning and trajectory planning (time). The sequence points or curves connecting the starting point position and the target point position are called paths. The strategy for forming paths is route plan. [0003] Path planning is to find a series of path points to pass through. The path point is the position or joint angle in space, and the trajectory planning is to endow the path with time information. Motion planning is to insert a sequence of intermediate points for control between the end points of a given path to achieve smooth motion along a given path. Trajectory planning adds time series information on the basis of path planning, and plans the speed and accelera...

AI Technical Summary

Problems solved by technology

However, the traditional RRT algorithm has poor orientation, and when the planning space increases, there are problems of poor smoothness of the planned path and high time complexity of the algorithm.

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