Six-axis robot fruit and vegetable picking path planning method based on RRT* algorithm

A six-axis robot and path planning technology, applied in the field of robotics, can solve problems such as low efficiency and long time, and achieve the effects of avoiding jitter and collision, improving safety, and improving real-time operability

Active Publication Date: 2021-09-17
青岛悟牛智能科技有限公司
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Problems solved by technology

[0012] The invention provides a six-axis robot fruit and vegetable picking path planning method based on the RRT* algorithm, which is used to solve the problems of long time and low efficiency of the existing robot fruit and vegetable picking path, and improves the maneuverability and efficiency of the six-axis robot and security

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  • Six-axis robot fruit and vegetable picking path planning method based on RRT* algorithm

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Embodiment Construction

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments.

[0040] Such as figure 1 As shown, this embodiment discloses a six-axis robot fruit and vegetable picking path planning method based on the RRT* algorithm, including the following steps:

[0041] Step 1. Initialization: Obtain the current position of the six-axis robot and the center position data of fruits and vegetables, mark them as the starting point S and the ending point E respectively, set the search radius r and the value that the node falls within the range of the ending point E, and limit the six-axis robot The six-axis motion angle is use...

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Abstract

The invention relates to a six-axis robot fruit and vegetable picking path planning method based on an RRT* algorithm. The six-axis robot fruit and vegetable picking path planning method based on the RRT* algorithm reduces the path planning time and improves the working efficiency through adjusting the range of a search radius; the six-axis movement angle of the six-axis robot is limited to prevent a mechanical arm of the six-axis robot from moving to a singular point and a self-collision point, and the collision risk degree of the six-axis robot is reduced; the grabbing angle and range within the distance range of reaching the set termination point E are optimized; and a broken line inflection point of an updated tree is smoothed, so that the phenomenon that the six-axis robot shakes when moving to the broken line inflection point is avoided, and the real-time operability is improved. According to the invention, the path is planned by comprehensively considering the complexity of an agricultural scene, the shortest path, the maneuverability, safety, feasibility of the six-axis robot and other factors; and the six-axis robot fruit and vegetable picking path planning method based on the RRT* algorithm has good practicability.

Description

technical field [0001] The invention belongs to the technical field of robots, relates to the optimization of robot path algorithms and the improvement of efficiency, and specifically relates to a six-axis robot fruit and vegetable picking path planning method based on the RRT* algorithm. Background technique [0002] With the development of science and technology, robots are used more and more in industrial manufacturing, fruit and vegetable picking and other occasions. The path planning of the robot is a key factor affecting the operation effect and work efficiency of the robot, and the algorithm is the basis of path planning. Common algorithms in path planning include the rapid expansion random tree RRT algorithm and the asymptotically optimal RRT* algorithm. Fruit and vegetable picking is the most time-consuming and labor-intensive link in the agricultural production chain. It has the characteristics of strong seasonality, high labor intensity and high cost. Therefore,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664B25J9/1679Y02P90/02
Inventor 王欣可李莹莹姚玮李四鹏唐彦胜
Owner 青岛悟牛智能科技有限公司
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