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Robot obstacle avoidance method and device, computer readable storage medium and robot

A robot and obstacle technology, applied in the field of robotics, can solve problems such as ensuring job tasks

Pending Publication Date: 2022-03-08
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a robot obstacle avoidance method, device, computer-readable storage medium and robot to solve the problem that the existing robot obstacle avoidance method is difficult to ensure the completion of the task while avoiding obstacles. question

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  • Robot obstacle avoidance method and device, computer readable storage medium and robot
  • Robot obstacle avoidance method and device, computer readable storage medium and robot
  • Robot obstacle avoidance method and device, computer readable storage medium and robot

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Embodiment Construction

[0069] In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0070] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or...

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PUM

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Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot obstacle avoidance method and device, a computer readable storage medium and a robot. The method comprises the steps that according to the position of an obstacle in a working space of the robot, the influence value of the obstacle on the joint movement range of the robot is determined; establishing a state transition relation of the robot by taking the joint speed of the robot as a control target and the joint angular speed of the robot as a control input quantity; and performing model prediction control on the robot according to the state transition relation and the influence value so as to avoid collision with an obstacle in the movement process of the robot. According to the method and the device, the influence of the obstacle on the joint motion range of the robot is fully considered, obstacle avoidance control is performed in advance while the future state of the robot is predicted through model prediction control, and the completion of an operation task can be ensured while the obstacle is avoided.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a robot obstacle avoidance method, device, computer-readable storage medium and robot. Background technique [0002] With the expansion of the application range of the robot, the working environment of the robot is also changeable. Various static or dynamic obstacles often appear within the working space of the robot. Obstacles collide, resulting in damage to the robot body or obstacles. Although the dynamic monitoring of the distance between the robot and the environment based on visual equipment can predict collisions to a certain extent, it is difficult to ensure the completion of tasks while avoiding obstacles. Contents of the invention [0003] In view of this, the embodiment of the present application provides a robot obstacle avoidance method, device, computer-readable storage medium and robot to solve the problem that the existing robot obstacle av...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1676B25J9/1666B25J9/163
Inventor 刘益彰熊友军曾献文张志豪张美辉陈春玉
Owner UBTECH ROBOTICS CORP LTD