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

A method and device for motion planning of a mechanical arm, and a mechanical arm

A motion planning, robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of motion planning stability and low efficiency of robotic arms, and achieve the effect of improving stability and efficiency

Active Publication Date: 2021-09-28
UNIV OF ELECTRONICS SCI & TECH OF CHINA ZHONGSHAN INST
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the purpose of the embodiments of the present application is to provide a method and device for motion planning of a robotic arm, and a robotic arm to improve the stability and low efficiency of the motion planning of the robotic arm existing in the prior art

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
  • A method and device for motion planning of a mechanical arm, and a mechanical arm
  • A method and device for motion planning of a mechanical arm, and a mechanical arm
  • A method and device for motion planning of a mechanical arm, and a mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments of the embodiments of the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the embodiments of the present application.

[0066] The embodiment of the present application provides a motion planning method for a robotic arm, which is applied to a variety of robotic arms, such as redundant robotic arms with multiple degrees of freedom. By calculating and planning the motion trajectory of the robotic arm and the growth trajectory of obstacles, it can Obtain the optimized target trajectory after the motion planning of the robot...

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 present application provides a method and device for motion planning of a mechanical arm, and a mechanical arm, which relate to the technical field of intelligent mechanical control. The method includes: obtaining the position data of the object to be grasped, the collision volume information and the pose data of the end effector of the mechanical arm; and determining the end effector according to the pose data, the position data of the object to be grasped and the number of growth steps Based on the motion trajectory, the target trajectory of the end effector for obstacle growth is obtained by moving according to the collision volume information and the number of obstacle growth steps, where the target trajectory is the target motion plan for the motion planning of the manipulator. This method can iteratively calculate the motion trajectory of the robotic arm, and adjust, plan and optimize the trajectory of the robotic arm based on the information of objects to be grasped and obstacles, effectively improving the stability and efficiency of the motion planning of the robotic arm.

Description

technical field [0001] The present application relates to the technical field of intelligent mechanical control, in particular, to a method and device for motion planning of a mechanical arm, and a mechanical arm. Background technique [0002] With the rapid development of artificial intelligence and mechanical control technology, when robots perform complex tasks, more and more redundant degrees of freedom manipulators are applied to robots to complete various more complex tasks. Redundant degrees of freedom manipulators For a robot arm with seven joints, it has seven degrees of freedom. Compared with a six-joint robot arm, the extra joints allow the robot arm to avoid certain specific targets, so that the end effector can reach a specific position, which can be more Flexible to adapt to some special working environment. [0003] In the current use of redundant DOF manipulators, since the redundant DOF manipulators do not have an analytical kinematic inverse solution, the ...

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 Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1666
Inventor 董帅文琦邹昆李文生
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA ZHONGSHAN INST