Trajectory planning method and system for robot arm under high visual visibility

By using a robotic arm trajectory planning method with high visual visibility and a visual feedback optimization function to adjust the robotic arm trajectory in real time, the problems of grasping failure and poor real-time performance in existing technologies are solved, and efficient and autonomous target object grasping is achieved.

CN116117786BActive Publication Date: 2026-06-09SHANDONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANDONG UNIV
Filing Date
2022-09-07
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

Existing vision-based robotic arm trajectory planning methods lack closed-loop control in grasping operations, leading to grasping failures when the target object moves or the detection quality is too low. Furthermore, they rely on manual teaching, resulting in poor real-time performance and autonomy.

Method used

A high visual visibility robotic arm trajectory planning method is adopted. By acquiring image data of the target object to identify its pose, Cartesian space trajectory planning is performed, and a visual feedback optimization function is constructed to adjust the robotic arm's motion trajectory in real time to ensure that the target object is within the camera's field of view. The trajectory is monitored and replanned in real time.

Benefits of technology

It improves the success rate and efficiency of robotic arm grasping, ensures that the target object is within the camera's field of view, avoids grasping failures, and achieves improvements in real-time performance and autonomy.

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Abstract

The present disclosure relates to the technical field of visual perception and robot motion planning, and provides a robot trajectory planning method and system under high visual visibility, which comprises: obtaining target object image data for target recognition to obtain the pose of the target object; performing robot trajectory planning based on Cartesian space according to the current position and target position of the robot to obtain a first planning trajectory; controlling the robot to move according to the first planning trajectory; constructing an optimization function of visual feedback, so that the detected target object is always within the camera field of view carried by the robot during the movement of the robot; and optimizing and correcting the planning trajectory according to the solution value of the optimization function, and controlling the robot to move according to the optimized trajectory. By constructing the optimization function, the target object is kept in the camera field of view during the movement of the robot, and the path is re-planned along with the movement of the target object, thereby improving the accuracy of grabbing the target object after the movement of the robot position and improving the success rate of grabbing the target.
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