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Motion path planning method, device and equipment of mechanical arm, medium and mechanical arm

A motion path and robotic arm technology, applied in the field of robotic arms, can solve problems such as overflow and the inability of path points to meet job requirements, and achieve the effect of expanding application scenarios

Active Publication Date: 2022-02-11
SHENZHEN YUEJIANG TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, due to the randomness of the sampling-based method, when the sampling space is the joint space of the manipulator, the generated path points cannot meet specific job requirements. For example, the manipulator needs to grab a glass of water and move to a given target point , it is necessary to ensure that the end posture of the robotic arm must be vertically upward during the entire movement process, otherwise the water in the cup will overflow during the movement process, so there are certain defects in the actual application process

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  • Motion path planning method, device and equipment of mechanical arm, medium and mechanical arm
  • Motion path planning method, device and equipment of mechanical arm, medium and mechanical arm
  • Motion path planning method, device and equipment of mechanical arm, medium and mechanical arm

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Embodiment Construction

[0063] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, but cannot be construed as limitations to the present invention. Based on the embodiments in the present invention, those skilled in the art do not make creative work premise All other embodiments obtained below all belong to the protection scope of the present invention.

[0064] The present invention proposes a motion path planning method of a mechanical arm, referring to figure 1 and figure 2 , the motion path planning method of the robotic arm includes:

[0065] Step S10: Accept the input of the starting point and the target point of the motion path;

[0066] After under...

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Abstract

The invention discloses a motion path planning method of a mechanical arm. The motion path planning method of the mechanical arm comprises the steps: receiving input of a starting point position and a target point position of a motion path; receiving the input of a tail end pose constraint value; acquiring a limited motion area of the tail end of the mechanical arm in a joint space, and randomly sampling a motion point location of the motion path in the limited motion area to enable the motion point location to meet the tail end pose constraint value; and when the sampled motion point location coincides with the target point location, outputting a motion path according to the starting point location, the sampled motion point location and the target point location. According to the motion path planning method of the mechanical arm, each path point location on the motion path planned and generated by the motion path planning method can meet the given tail end pose requirement, the specific operation requirement is met, and the application scene is expanded.

Description

technical field [0001] The present invention relates to the technical field of mechanical arms, in particular to a motion path planning method, device, equipment, medium and mechanical arm of a mechanical arm. Background technique [0002] Path planning, as the basis for manipulators to complete various tasks, has always been a research hotspot. At present, the existing path planning methods mostly use sampling-based methods, such as RRT (Rapidly-Exploring Random Trees, fast search random tree) algorithm and PRM (Probabilistic Roamap Method, random road map) algorithm. [0003] However, due to the randomness of the sampling-based method, when the sampling space is the joint space of the manipulator, the generated path points cannot meet specific job requirements. For example, the manipulator needs to grab a glass of water and move to a given target point , it is necessary to ensure that the end posture of the robotic arm must be vertically upward during the entire movement ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1664B25J9/161B25J13/00
Inventor 林炯辉郎需林黄睿刘主福刘培超
Owner SHENZHEN YUEJIANG TECH CO LTD
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