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

Mechanical arm motion planning method and device, readable storage medium and mechanical arm

A motion planning and robotic arm technology, applied in the field of robotics, can solve problems such as low efficiency, long time-consuming, gaps, etc., to achieve the effect of improving efficiency and reducing time-consuming

Inactive Publication Date: 2021-07-16
UBTECH ROBOTICS CORP LTD
View PDF6 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, embodiments of the present application provide a method and device for motion planning of a robotic arm, a computer-readable storage medium, and a robotic arm to solve the problem that the existing methods for motion planning of a robotic arm are relatively inefficient, time-consuming, and The obtained motion planning path often has a large gap with the optimal path

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 motion planning method and device, readable storage medium and mechanical arm
  • Mechanical arm motion planning method and device, readable storage medium and mechanical arm
  • Mechanical arm motion planning method and device, readable storage medium and mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0062] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0063] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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 belongs to the technical field of robots, and particularly relates to a mechanical arm motion planning method and device, a computer readable storage medium and a mechanical arm. According to the method, two-way parallel expansion of a motion planning path is realized through a first planning tree expanded from an initial pose to a target pose and a second planning tree expanded from the target pose to the initial pose, and a path cost function is introduced in the expansion process to optimize the planning trees, so that the efficiency is improved, the time consumption is reduced, and meanwhile, the obtained motion planning path is closer to the optimal path.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a method and device for motion planning of a manipulator, a computer-readable storage medium and a manipulator. Background technique [0002] In the prior art, when planning the motion of the robotic arm, a tree with the initial pose as the root node is generally constructed, and the search is randomly expanded in the entire free space until the target pose is reached. Although this method can obtain the motion planning path of the robotic arm, the efficiency is relatively low and the time-consuming is extremely long, and there is often a large gap between the obtained motion planning path and the optimal path. Contents of the invention [0003] In view of this, embodiments of the present application provide a method and device for motion planning of a robotic arm, a computer-readable storage medium, and a robotic arm to solve the problem that the existing ...

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
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J18/00
CPCB25J9/1666B25J9/1679B25J18/00
Inventor 陈金亮刘益彰熊友军
Owner UBTECH ROBOTICS CORP LTD