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

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 ...

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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