Double-arm robot track planning method based on dynamic motion primitive and artificial potential field

Abstract

The invention belongs to the field of track planning, particularly relates to a double-arm robot track planning method, system and device based on a dynamic motion primitive and an artificial potential field, and aims to solve the problems of poor real-time performance, poor generalization and low efficiency of a conventional robot track planning method. The method of the system comprises the steps: a target position to be subjected to path planning of the double-arm robot is obtained as input data; and based on the input data, the double-arm robot obtains a corresponding planning path througha pre-constructed dynamic primitive motion model, and moves to the target position along the planning path. According to the method, system and device, the real-time performance, generalization and efficiency of track planning of the robot are improved.

Description

technical field [0001] The invention belongs to the field of robot trajectory planning, and in particular relates to a dual-arm robot trajectory planning method, system and device based on dynamic motion primitives and artificial potential fields. Background technique [0002] Trajectory planning is the basis of manipulator control and one of the key technologies for controlling the motion of a dual-arm robot. It is of great significance to the work efficiency and motion stability of the manipulator. Common trajectory planning algorithms include spline interpolation method, rapid exploration random tree (RRT), artificial potential field method, etc. The trajectory planning method based on spline interpolation contains time constants, which makes it difficult to learn multi-degree-of-freedom trajectories; the trajectories generated by statistical methods such as rapid exploration of random trees have poor continuity, and path detours and deadlocks may occur in complex environ...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problems of poor real-time performance, poor generalization and low efficiency of the existing robot trajectory planning method, the first aspect of the present invention proposes a method based on dynamic motion primitives and artificial potential field The dual-arm robot trajectory planning method, the method includes:

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