Unlock instant, AI-driven research and patent intelligence for your innovation.

Mechanical arm path planning method

A technology of path planning and manipulators, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to effectively obtain optimal path planning, improve algorithm planning efficiency, reduce useless growth, and achieve high planning efficiency Effect

Active Publication Date: 2021-07-09
GUIZHOU UNIV
View PDF14 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this method can effectively solve the path planning problem, it cannot effectively obtain the optimal path planning for specific scenarios.

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
  • Mechanical arm path planning method
  • Mechanical arm path planning method
  • Mechanical arm path planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] In the following, with reference to the accompanying drawings and preferred embodiments, the specific implementation, features and effects of a method for planning a robot arm path according to the present invention will be described in detail as follows.

[0038] see figure 1 , a kind of mechanical arm path planning method of the present invention, wherein, the method comprises the following steps:

[0039] Step 1. Initialize the workspace of the manipulator and the environment information in the workspace, and specify the starting position q of the movement of the manipulator init , the end point q of the robot arm movement goal and the moving step S of the manipulator;

[0040] Step 2, using the improved RRT algorithm to plan a global path for the manipulator;

[0041] Step 3: Set the global path PATH of the improved RRT planning as the current path, and judge the current path; if there is a redundant path, set the redundant node as the starting point q of the imp...

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 mechanical arm path planning method which is characterized by comprising the following steps that firstly, target search is introduced, a traditional RRT algorithm is improved, and global path planning is conducted by using the improved RRT algorithm; secondly, a repulsive force potential field range is used as a threshold value, the influence from an end effector of a mechanical arm to an end position point is used for correcting a gravity function and a repulsive force function, an artificial potential field method is improved, and the improved artificial potential field method is used for optimizing a local path; and then, smoothing is conducted on the path by using a cubic B-spline curve to obtain a final path. According to the method, the global path is planned by utilizing the probability completeness of the RRT algorithm, the RRT algorithm is supplemented by utilizing the directivity of the artificial potential field method, and meanwhile, the RRT algorithm also provides an effective guarantee for improving the obstacle avoidance capability of the algorithm. In conclusion, the optimal path planning can be effectively obtained in the path planning of the mechanical arm, and the planning efficiency is high.

Description

technical field [0001] The invention relates to the field of robot motion planning, in particular to a path planning method for a mechanical arm. Background technique [0002] The rapid development of e-commerce has driven the automation and intelligence of my country's logistics industry. With the substantial increase in the order volume of Internet e-commerce platforms and the diversification of product categories, the requirements for the picking of goods in the warehouse, the timeliness and workload of container stacking are getting higher and higher. In the traditional storage system, manual container stacking Palletizing and sorting items in containers has become the bottleneck of warehousing automation, a problem that needs to be solved urgently. Among them, the automatic container stacking of container items first needs to solve the problem of motion planning of the robotic arm. [0003] In the field of motion planning of manipulators, there are commonly used motion...

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
CPCB25J9/1664
Inventor 袁庆霓王鑫江涛杨观赐吴杨东蓝伟文
Owner GUIZHOU UNIV
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

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

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com