Optimal path planning method for grabbing product by manipulator and readable storage medium

An optimal path planning and optimal path technology, applied in the field of manipulators, can solve the problems of low grasping efficiency, difficulty in obtaining the optimal path, unreasonable path planning, etc., and achieve the effect of improving grasping efficiency

Active Publication Date: 2021-09-17
深圳谦腾科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When the traditional manipulator grasps the product on the flexible vibrating plate, the path plan

Method used

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  • Optimal path planning method for grabbing product by manipulator and readable storage medium
  • Optimal path planning method for grabbing product by manipulator and readable storage medium
  • Optimal path planning method for grabbing product by manipulator and readable storage medium

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Embodiment Construction

[0021] The present invention will be further described below in conjunction with the description of the drawings and specific embodiments.

[0022] An optimal path planning method for manipulators to grab products, such as figure 1 As shown, using machine vision, the pixel coordinates are obtained through image processing, converted to the coordinate system of the industrial manipulator, and the position information and angles of the 5 products V1->V2->V3->V4>V5 are calculated, which affects the manipulator to take the entire product. 2 factors of cycle time, path D and angle change;

[0023] Example: According to the above planning path V1->V2->V3->V4

[0024] Path D=7+6+2=22

[0025] Angle change R=45+135+55=235.

[0026] The specific planning process is as follows:

[0027] 1. Select V1-Vn as the starting point in turn, and randomly select 3 of the remaining n-1 points, and the obtained combination is stored in the dis array, such as figure 2 shown;

[0028] ①dis[0][...

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Abstract

The invention provides an optimal path planning method for grabbing a product by a manipulator. The optimal path planning method comprises the following steps: S1, sequentially selecting V1 to Vn as starting points, and randomly selecting three of the remaining n-1 points to obtain a combination and store the combination in an array dis; S2, calculating a four-point path distance through the array dis, and storing the four-point path distance in an array PD; and S3, carrying out bubble sort by utilizing the array PD, carrying out interaction on the content of the array dis according to the index of the array PD while sorting from small to large, and enabling the array PD and the array dis to be in one-to-one correspondence according to the index. The invention further provides a readable storage medium. The method has the beneficial effects that the optimal path for grabbing the product by the manipulator can be well planned, so that the grabbing efficiency is improved.

Description

technical field [0001] The invention relates to a manipulator, in particular to an optimal path planning method and a readable storage medium for a manipulator to grab a product. Background technique [0002] When the traditional manipulator grasps the product on the flexible vibrating plate, the path planning is unreasonable, and it is difficult to obtain the optimal path, resulting in low grasping efficiency. Contents of the invention [0003] In order to solve the problems in the prior art, the present invention provides an optimal path planning method and a readable storage medium for a manipulator to grab a product. [0004] The present invention provides a method for planning an optimal path for a manipulator to grab a product, including the following process: [0005] S1. Select V1 to Vn as the starting point in turn, and randomly select 3 of the remaining n-1 points, and obtain the combination and store it in the array dis; [0006] S2. Through the array dis, cal...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/161Y02P90/30
Inventor 彭志敏
Owner 深圳谦腾科技有限公司
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