Obstacle avoidance control method and system for six-axis mechanical arm and computer readable storage medium

A six-axis robot arm and control method technology, applied in computing, manipulators, comprehensive factory control, etc., to achieve the effect of improving obstacle avoidance efficiency and high versatility

Active Publication Date: 2021-11-02
FOSHAN INST OF INTELLIGENT EQUIP TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a six-axis robotic arm obstacle avoidance control method, system and computer-readable storage medium to solve one or more technical problems in the prior art, and at least provide a beneficial choice or create conditions

Method used

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  • Obstacle avoidance control method and system for six-axis mechanical arm and computer readable storage medium
  • Obstacle avoidance control method and system for six-axis mechanical arm and computer readable storage medium
  • Obstacle avoidance control method and system for six-axis mechanical arm and computer readable storage medium

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Embodiment Construction

[0054] The concept, specific structure and technical effects of the present application will be clearly and completely described below in conjunction with the embodiments and drawings, so as to fully understand the purpose, scheme and effect of the present application. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0055] refer to figure 1 ,Such as figure 1 Shown is a six-axis robotic arm obstacle avoidance control method provided by the embodiment of the present application, and the method includes the following steps:

[0056] Step S100, determine the set of key points on the mechanical arm; wherein, the set of key points includes a plurality of key points, and the ball with each key point as the center of the sphere can meet the requirements of covering the entire mechanical arm when it is in any pose. arm;

[0057] In the embodiment provided by the pre...

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Abstract

The invention relates to the technical field of robot control, in particular to an obstacle avoidance control method and system for a six-axis mechanical arm and a computer readable storage medium. The method comprises the steps: determining a key point set on a mechanical arm; controlling the mechanical arm to operate towards a target, obtaining point cloud data of a working space where the mechanical arm is located in real time, and determining obstacle point cloud according to the point cloud data; determining the shortest distance between the mechanical arm and the obstacle in real time according to the key point set and the obstacle point cloud, wherein the shortest distance is the distance between the nearest key point and the nearest obstacle point; and when the shortest distance is smaller than the set safety distance, controlling the mechanical arm to avoid obstacles in real time in the process of moving towards the target. The obstacle avoidance efficiency of the mechanical arm is improved through accurate and autonomous distance calculation.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a six-axis robotic arm obstacle avoidance control method, system and computer-readable storage medium. Background technique [0002] Traditional industrial manipulators lack the ability to visually monitor the working environment, and can only operate according to the set procedures. The ability to avoid collisions is low. The current use of collaborative robots also has the potential danger of accidentally injuring people. Therefore, it is necessary to avoid Collisions to people, robotic arms and surrounding objects. [0003] At present, a mature robot arm obstacle avoidance system has not yet been formed in the industrial field. With the advent of depth cameras such as KinectV1 and real sense, more and more robot arm obstacle avoidance solutions have been proposed and demonstrated to a certain extent, but they are not Not complete. Chinese patent CN111168681A discloses ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1697G06T2207/10028Y02P90/02
Inventor 邱宏波高萌孔德良司徒仕忠陈思敏钟家明
Owner FOSHAN INST OF INTELLIGENT EQUIP TECH
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