A method for quickly generating a trajectory of a mechanical arm for a space target in a complex environment
By acquiring trajectory constraints and control points, and using NURBS fitting curves to generate the target trajectory of the robotic arm, the problem of time-consuming trajectory planning in complex environments is solved, and the rapid generation of trajectories that meet multiple constraints is achieved, thus improving simulation efficiency.
CN116638527BActive Publication Date: 2026-07-14CISDI RES & DEV CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CISDI RES & DEV CO LTD
- Filing Date
- 2023-07-11
- Publication Date
- 2026-07-14
Smart Images
Figure CN116638527B_ABST
Abstract
The present application relates to a kind of mechanical arm complex environment space target trajectory fast generation method, belong to robot off-line simulation technical field, including the following steps: S1: obtaining trajectory restriction condition, trajectory control point, node vector, and as the input of work platform obstacle isoporic model;S2: work platform obstacle isoporic model is handled to input parameter, obtains TCP displacement fitting curve;S3: the point in TCP displacement fitting curve is converted into the point in base coordinate system, is imported into simulation software and is verified, adjusts trajectory control point according to verification result, optimizes TCP displacement fitting curve, obtains final motion trajectory after optimization is completed.The present application process is simple, fast and effective, reduces the time required in trajectory planning in complex environment off-line simulation, improves simulation efficiency.
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