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A method and system for path planning of a robotic arm

A path planning and robotic arm technology, applied in the field of human-computer interaction and safety control, can solve the problems of insufficient accuracy and achieve the effect of improving accuracy, ensuring reliability and safety

Active Publication Date: 2022-02-11
YANTAI JIERUI NETWORK TRADING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In order to improve the working efficiency of the manipulator, path planning is essential. However, the accuracy of the existing path planning method for the manipulator is insufficient, and it is impossible to carry out normal work under the premise of ensuring the safety of personnel.

Method used

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  • A method and system for path planning of a robotic arm
  • A method and system for path planning of a robotic arm
  • A method and system for path planning of a robotic arm

Examples

Experimental program
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Embodiment 1

[0056] Such as figure 1 As shown, this embodiment provides a method for path planning of a manipulator, which collects data from sensors at key points of the manipulator, performs path planning on it, and builds a human-computer interaction system, taking into account the actual factory man-machine Safety rules, simulating the real manufacturing process through virtual combination scene method, this method specifically includes:

[0057] S1. Obtain original surrounding area information of each set key point of the manipulator; the original surrounding area information includes: information around the manipulator obtained by a sensor.

[0058] Under the premise of the guarantor's safety, the response path planning of the manipulator is carried out. The prerequisite for machine learning in path planning is also the guarantor's safety law. Firstly, through the 3D model sensor and motion sensing device of each key point on the manipulator, the information of the area around the...

Embodiment 2

[0087] Such as image 3 As shown, this embodiment provides a robotic arm path planning system, which includes:

[0088] The surrounding information acquiring module M1 is configured to acquire the original surrounding area information of each set key point of the manipulator; the original surrounding area information includes: the information around the manipulator obtained by the sensor.

[0089] The feature extraction module M2 is used to perform feature extraction on the original surrounding area information by using a convolutional neural network to obtain a position feature vector after feature extraction of each set key point; the position feature vector includes: the position of surrounding people or objects feature.

[0090] The covariance calculation module M3 is used to calculate the covariance between the position feature vectors of the set key points to obtain a covariance matrix.

[0091] A three-dimensional feature construction module M4, configured to use the ...

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Abstract

The invention relates to a method and system for path planning of a manipulator, which uses neural network feature extraction to accurately identify and extract the position characteristics of people or objects around the key points of the manipulator, thereby effectively ensuring the reliability and safety of the identified object. At the same time, use the method of machine learning, use MATLAB to model in the virtual environment, and then use the artificial potential field method to set the stress behavior parameters, and use these parameters to control the mechanical arm and its key points for stress behavior, so as to plan the path , and perform dual control according to whether the manipulator and its key points meet people, effectively improving the accuracy of the path planning of the manipulator.

Description

technical field [0001] The invention relates to the technical field of human-computer interaction and safety control, in particular to a method and system for path planning of a manipulator. Background technique [0002] At present, robotic arms are more and more widely used in daily production. In order to improve the working efficiency of the manipulator, path planning is essential. However, the existing path planning methods for the manipulator are not accurate enough to perform normal work on the premise of ensuring the safety of personnel. [0003] Therefore, there is an urgent need in the art for a path planning solution with high accuracy for the manipulator. Contents of the invention [0004] The purpose of the present invention is to provide a path planning method and system for a manipulator, which uses a neural network to identify strong features of people or objects around the manipulator, and effectively improves the accuracy of path planning for the manipula...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 刘兆伟王涛李腾张恒振车伟帅
Owner YANTAI JIERUI NETWORK TRADING