Industrial robot path planning method and system based on pseudo-distance function

Abstract

The invention provides an industrial robot path planning method and system based on a pseudo-distance function. The method includes the steps of carrying out the enveloping of a mechanical arm connecting rod and a working environment obstacle through a convex polyhedron, and recording the geometric shape of a mechanical arm and the environment obstacle in the form of the vertex of the convex polyhedron; carrying out path planning in a joint space of a robot on the basis of a traditional RRT algorithm, mapping joint parameters of the joint space into a geometric shape of a working space through a kinematic equation of the mechanical arm, and judging whether the mechanical arm collides with the environmental obstacle or not through a GJK algorithm; and if collision occurs, calculating the gradient of the pseudo distance of a collision point to each joint parameter, and correcting the collision point along the gradient direction as a new path point. According to the industrial robot path planning method and system based on the pseudo-distance function, a path generated by the method is better, the robustness is better, and the method has more obvious advantages in the environment with more obstacles or narrow channels.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method and system for path planning of an industrial robot based on a pseudo-distance function. Background technique [0002] Robot off-line programming is the preview planning process of the robot before actual production and processing. Compared with traditional manual teaching, off-line programming has the advantages of high planning accuracy, safe operating environment, and does not occupy the robot; Moving to a collision-free path to pose B is one of the most common functions in offline programming. The most common algorithm in this application scenario is the RRT (Rapidly-exploring random trees) algorithm. RRT is a general method that can be used regardless of the robot type, the degree of freedom, or the complexity of the constraints, and the implementation principle is simple. But its shortcomings are also very obvious. First, the path found by RRT can only sat...

AI Technical Summary

Problems solved by technology

But its shortcomings are also very obvious. First, the paths found by RRT can only satisfy the accessibility, and cannot guarantee the path quality. Under the same conditions, the paths generated by two RRTs may be very different.

Second, for a complex obstacle environment (such as a path that needs to pass through a narrow passage), the probability of RRT finding a reachable path is low for a given number of attempts

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