Optimal path planning method and readable storage medium for manipulator to grab products

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

Active Publication Date: 2022-06-03
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 planning is unreasonable, and it is difficult to obtain the optimal path, resulting in low grasping efficiency

Method used

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  • Optimal path planning method and readable storage medium for manipulator to grab products
  • Optimal path planning method and readable storage medium for manipulator to grab products
  • Optimal path planning method and readable storage medium for manipulator to grab products

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Embodiment Construction

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

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

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

[0028]①dis[0][0]={V1, V2, V3, V4}

[0029] ②dis[0][1]={V1, V2, V4, V3}

[0030] ③dis[0][2]={V1, V3, V2, V4}

[0031] ④dis[0][3]={V1, V3, V4, V2}

[0032] ⑤dis[0][4]={V1, V4, V3, V2}

[0033] ⑥ dis[0][5]={V1, V4, V2, V3}

[0034] ⑦

[0036] ⑨......

[0039]①PD[0][0]=7+6+2=15

[0040] ②PD[0][1]=7+1+2=10

[0041] ③ PD[0][2]=1+6+1=8

[0042] ④PD[0][3]=1+2+1=4

[0043] ⑤PD[0][4]=1.4+2+6=9.4

[0044] ⑥ PD[0][5]=1.4+1+6=8.4

[0045] ⑦

[0047] ⑨...

[0051]

[0053] Taking dis[0][0]={V1, V2, V3, V4} as an example, I, j, k, and l are the correspondences of the V1, V2, V3, and V44 group path points respectively

[0054]

[0059] 6. Select the optimal path dis[0][3]={V1, V3, V4, V2} as the point data of the product being grasped by the manipulator.

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Abstract

The present invention provides an optimal path planning method for manipulators to grab products, including the following process: S1, sequentially select V1 to Vn as starting points, and randomly select 3 of the remaining n-1 points to obtain a combination Stored in the array dis; S2, through the array dis, calculate the path distance of 4 points, and store it in the array PD; S3, use the array PD to perform bubble sorting, sort from small to large, and sort the array dis according to the index of the array PD The content is interacted, and the array PD and the array dis are in one-to-one correspondence according to the index. The invention also provides a readable storage medium. The beneficial effect of the present invention is that: the optimal path for the manipulator to grab the product can be better planned, so as to improve the grabbing efficiency.

Description

Optimal path planning method and readable storage medium for manipulator grasping products technical field The present invention relates to manipulator, relate in particular to a kind of optimal path planning method of manipulator grabbing product and readable storage [0001] storage medium. Background technique When the traditional manipulator grabs the product with the flexible vibrating disc, the path planning is unreasonable, and it is difficult to obtain the optimal path, which leads to Crawling efficiency is low. SUMMARY OF THE INVENTION In order to solve the problem in the prior art, the present invention provides a kind of optimal path planning for the manipulator to grab the product Method and readable storage medium. The present invention provides a kind of optimal path planning method that manipulator grabs product, comprises following process: S1, choose V1 to Vn successively as starting point, in remaining n-1 points, choose 3 of them arbitrarily, d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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