A mechanical arm optimal pose selection and continuous path planning method and device

Abstract

The application discloses a kind of mechanical arm optimal pose selection and continuous path planning method, device, the method includes: obtaining process point under the base coordinate system of mechanical arm;Obtain the multiple groups of inverse solution of mechanical arm at process point, select a group of optimal inverse solution from multiple groups of inverse solution based on optimal pose selection algorithm, record the optimal inverse solution of mechanical arm at each process point;According to optimal inverse solution, the path between process points is planned, and a continuous path passing through all process points is obtained;Joint angular velocity and angular acceleration information are added to the continuous path planned, to obtain smooth mechanical arm continuous motion trajectory.The application solves the problems of discontinuous action, discontinuous path and low detection efficiency when mechanical arm performs scanning detection task.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing, and in particular to a method and apparatus for optimal posture selection and continuous path planning of a robotic arm. Background Technology

[0002] Due to their high degree of flexibility, robotic arms have been widely used in the field of intelligent manufacturing.

[0003] When a robotic arm performs scanning and inspection tasks, a laser or vision-based 3D scanning device is typically installed at the end effector. A detection trajectory is then generated through offline programming or teaching to guide the robotic arm in completing the task. Existing implementation methods have the following problems:

[0004] 1. The optimal posture selection strategy of the robotic arm cannot select an optimal solution suitable for the detection scenario from multiple sets of inverse solutions, making it difficult to achieve smooth transformation between inverse solutions of adjacent points, resulting in discontinuous robotic arm movements.

[0005] 2. Commonly used point-by-point planning methods can only realize the movement between two adjacent points in the workspace of the robotic arm, and cannot completely plan a continuous path through all path points, which is difficult to meet the needs of continuous automated detection.

[0006] 3. The robotic arm planning failed to fully utilize the joint dynamic characteristics of the robotic arm, and the planning result was not the time-optimal (shortest), which affected the actual detection efficiency. Summary of the Invention

[0007] This invention provides a method and apparatus for optimal posture selection and continuous path planning of a robotic arm, which solves the problems of discontinuous movements, discontinuous paths and low detection efficiency when the robotic arm performs scanning and detection tasks.

[0008] A method for optimal posture selection and continuous path planning of a robotic arm includes:

[0009] Obtain the process points in the robot arm's base coordinate system;

[0010] Obtain multiple sets of inverse solutions for the robotic arm at the process point, select an optimal inverse solution from the multiple sets of inverse solutions based on the optimal posture selection algorithm, and record the optimal inverse solution of the robotic arm at each process point;

[0011] Based on the optimal inverse solution, path planning is performed between process points to obtain a continuous path passing through all process points;

[0012] By adding joint angular velocity and angular acceleration information to the planned continuous path, a smooth continuous motion trajectory of the robotic arm can be obtained.

[0013] In one embodiment of the present invention, the step of obtaining the process points in the robot arm base coordinate system specifically includes: generating a set of discretized process points based on the CAD model of the workpiece to be inspected; obtaining the workpiece calibration results through a multivariate sensing calibration method; and converting the generated process points to be represented in the robot arm base coordinate system based on the workpiece calibration results.

[0014] In one embodiment of the present invention, obtaining multiple sets of inverse kinematics solutions of the robotic arm at the process point specifically includes: constructing a forward kinematics (DH) model and an inverse kinematics analytical solution model of the robotic arm based on kinematic model parameters; and obtaining multiple sets of inverse kinematics solutions of the robotic arm at the process point in the base coordinate system based on the inverse kinematics analytical solution model of the robotic arm.

[0015] In one embodiment of the present invention, the step of selecting an optimal inverse solution from the multiple sets of inverse solutions based on the optimal posture selection algorithm specifically includes: defining the state of the robotic arm according to spatial features; determining a first preset condition and a second preset condition according to the state of the robotic arm; when determining the inverse solution of the process point, selecting a set of inverse solutions that satisfy the first preset condition as the optimal solution; if there is no solution that satisfies the first preset condition, then selecting a set of inverse solutions that satisfy the second preset condition as the optimal solution.

[0016] In one embodiment of the present invention, the state of the robotic arm includes wrist rotation, elbow up and down, and base forward and backward; the first preset condition is: the same as the current state of the robotic arm; the second preset condition is: different from the state of the wrist or elbow of the robotic arm.

[0017] In one embodiment of the present invention, the step of performing path planning between process points based on the optimal inverse solution specifically includes: obtaining the optimal inverse solution for each process point, and processing the optimal inverse solution using the RRTConnect algorithm according to the spatial position constraints of the robotic arm joints to obtain the path planning between process points.

[0018] In one embodiment of the present invention, the step of adding joint angular velocity and angular acceleration information to the planned continuous path to obtain a smooth continuous motion trajectory of the robotic arm specifically includes: obtaining joint velocity and acceleration constraints of the robotic arm; and processing the obtained continuous path based on the joint velocity and acceleration constraints of the robotic arm using a shortest time trajectory optimization algorithm to obtain a smooth continuous motion trajectory of the robotic arm.

[0019] A device for optimal posture selection and continuous path planning of a robotic arm includes:

[0020] The process point acquisition module is used to acquire process points in the robot arm's base coordinate system;

[0021] The optimal inverse solution selection module is used to obtain multiple sets of inverse solutions for the robotic arm at the process point, select an optimal inverse solution from the multiple sets of inverse solutions based on the optimal posture selection algorithm, and record the optimal inverse solution of the robotic arm at each process point.

[0022] The path planning module is used to plan the path between process points based on the optimal inverse solution and obtain a continuous path that passes through all process points.

[0023] The motion trajectory implementation module is used to add joint angular velocity and angular acceleration information to the planned continuous path to obtain a smooth continuous motion trajectory of the robotic arm.

[0024] A device for optimal posture selection and continuous path planning of a robotic arm, comprising:

[0025] At least one processor; and a memory communicatively connected to the at least one processor via a bus; wherein,

[0026] The memory stores instructions that can be executed by the at least one processor to implement the method as described in any of the above embodiments.

[0027] A non-volatile storage medium storing computer-executable instructions, which are executed by a processor to implement the method as described in any of the above embodiments.

[0028] This invention provides a method and apparatus for optimal posture selection and continuous path planning of a robotic arm, which has at least the following beneficial effects:

[0029] 1. The optimal posture selection algorithm selects the optimal solution from multiple sets of inverse solutions, achieving smooth switching between inverse solutions at different process points while avoiding singularities.

[0030] 2. Continuous path planning for the robotic arm was achieved using the RRTConnect path planning algorithm. Compared with the point-by-point planning method, the continuous path planning method improves the efficiency of scanning and detection.

[0031] 3. The joint angular velocity and angular acceleration of the robotic arm were planned using a time-optimal trajectory planning algorithm, ensuring the smoothness of the robotic arm's movement. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0033] Figure 1 This is a schematic diagram illustrating the steps of a method for optimal posture selection and continuous path planning of a robotic arm, provided in an embodiment of the present invention.

[0034] Figure 2 A flowchart of the optimal posture selection strategy for the robotic arm provided in an embodiment of the present invention;

[0035] Figure 3 This is a diagram showing the actual detection trajectory planning of the robotic arm provided in an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of optimal trajectory planning provided in an embodiment of the present invention;

[0037] Figure 5 This is a flowchart illustrating the overall process of selecting the optimal posture of the robotic arm and planning the actual detection trajectory, as provided in an embodiment of the present invention.

[0038] Figure 6 This is a schematic diagram of a robotic arm optimal posture selection and continuous path planning device provided in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of a device for optimal posture selection and continuous path planning of a robotic arm, provided in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described clearly and completely below in conjunction with specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] It should be noted that those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this invention can be combined with other embodiments without conflict. Unless otherwise defined, the technical or scientific terms used in this invention should be understood in their ordinary sense by those skilled in the art. The terms "a," "an," "an," "the," etc., used in this invention do not indicate quantity limitation and can represent singular or plural. The terms "comprising," "including," "having," and any variations thereof used in this invention are intended to cover non-exclusive inclusion; the terms "first," "second," "third," etc., used in this invention are merely to distinguish similar objects and do not represent a specific ordering of objects.

[0042] To address the problems existing in the prior art, this invention proposes a method and apparatus for optimal posture selection and continuous path planning of a robotic arm. First, the discretized inspection process points generated from the workpiece CAD model are transformed into the robotic arm's base coordinate system. Second, the optimal inverse kinematics solution for the robotic arm at each process point is determined using an optimal posture selection algorithm, and the path passing through all process points is planned using the RRTConnect algorithm. Furthermore, a time-optimal trajectory optimization algorithm is employed to plan the joint angular velocities and angular accelerations of the robotic arm along the aforementioned path, achieving continuous and smooth movement of the robotic arm, ultimately guiding the robot to perform scanning and inspection operations. This method can be used to guide robots to perform automated and rapid scanning and inspection of the external contour dimensions of aircraft moving surfaces, large components, and composite material parts. A detailed explanation follows.

[0043] Figure 1 A schematic diagram illustrating the steps of a method for optimal posture selection and continuous path planning of a robotic arm provided in an embodiment of the present invention may include the following steps:

[0044] S110: Obtain the process point in the robot arm's base coordinate system.

[0045] In one embodiment of the present invention, obtaining process points in the robot arm base coordinate system specifically includes: generating a set of discretized process points based on the CAD model of the workpiece to be inspected; obtaining the workpiece calibration result through a multivariate sensing calibration method; and converting the generated process points to be represented in the robot arm base coordinate system based on the workpiece calibration result.

[0046] Specifically, the kinematic model parameters and joint range of motion of the robotic arm are first determined, and a Denavit-Hartenberg (DH) forward kinematic model of the robotic arm is constructed. The DH method decomposes the robotic arm into a series of links and joints, and then describes the kinematic relationship between them by establishing a coordinate system. A set of process points to be inspected is generated based on the CAD model of the workpiece to be inspected, and a tooling coordinate system is constructed using a laser tracker. The target ball on the tooling and the position of the workpiece are located using a binocular camera to achieve alignment between the workpiece coordinate system and the tooling coordinate system, obtain the workpiece calibration results, and convert the generated process point pose information into the robot base coordinate system for representation.

[0047] S120: Obtain multiple sets of inverse solutions for the robotic arm at each process point, select the optimal inverse solution from the multiple sets of inverse solutions based on the optimal posture selection algorithm, and record the optimal inverse solution for the robotic arm at each process point.

[0048] In one embodiment of the present invention, obtaining multiple sets of inverse kinematics solutions for the robotic arm at a process point specifically includes: constructing a forward kinematics (DH) model and an inverse kinematics analytical solution model for the robotic arm based on kinematic model parameters; and obtaining multiple sets of inverse kinematics solutions for the robotic arm at a process point in the base coordinate system based on the inverse kinematics analytical solution model for the robotic arm.

[0049] In one embodiment of the present invention, an optimal inverse solution is selected from multiple sets of inverse solutions based on an optimal posture selection algorithm. Specifically, this includes: defining the state of the robotic arm according to spatial features; determining a first preset condition and a second preset condition according to the state of the robotic arm; when determining the inverse solution of the process point, selecting a set of inverse solutions that satisfy the first preset condition as the optimal solution; if there is no solution that satisfies the first preset condition, then selecting a set of inverse solutions that satisfy the second preset condition as the optimal solution.

[0050] In one embodiment of the present invention, the state of the robotic arm includes wrist rotation, elbow up and down, and base forward and backward; the first preset condition is: the same as the current state of the robotic arm; the second preset condition is: different from the state of the wrist or elbow of the robotic arm.

[0051] Specifically, such as Figure 2 As shown, this method further constructs an analytical solution model of the inverse kinematics of the robotic arm based on the forward kinematics model of the robotic arm, and obtains multiple sets of inverse kinematics solutions for the robotic arm at the process point according to the target pose of the process point. The state of the robotic arm is defined into three categories according to spatial characteristics: wrist rotation, elbow up / down, and base forward / backward. When determining the inverse kinematics solution for the process point, the set of inverse kinematics solutions that are exactly the same as the current state of the robotic arm is preferred as the optimal posture (optimal solution) of the robotic arm; if there is no set of solutions that meets the above requirements, then the set of inverse kinematics solutions in which the forward / backward state of the base is consistent, but the wrist or elbow state is different is selected as the optimal posture of the robotic arm.

[0052] S130: Based on the optimal inverse solution, perform path planning between process points to obtain a continuous path that passes through all process points.

[0053] In one embodiment of the present invention, path planning between process points is performed based on the optimal inverse solution, specifically including: obtaining the optimal inverse solution for each process point, and processing the optimal inverse solution using the RRTConnect algorithm according to the spatial position constraints of the robotic arm joints to obtain the path planning between process points.

[0054] Specifically, based on the spatial position constraints of the robotic arm joints, the RRTConnet algorithm is used to generate leaf nodes by randomly sampling in the state space, taking adjacent process points as root nodes, forming an expanded tree, and finding the paths connecting adjacent process points. This process is then further traversed to form the path for the robotic arm to pass through all process points.

[0055] S140: Add joint angular velocity and angular acceleration information to the planned continuous path to obtain a smooth continuous motion trajectory of the robotic arm.

[0056] In one embodiment of the present invention, joint angular velocity and angular acceleration information are added to the planned continuous path to obtain a smooth continuous motion trajectory of the robotic arm. Specifically, this includes: obtaining joint velocity and acceleration constraints of the robotic arm; and processing the obtained continuous path based on the joint velocity and acceleration constraints of the robotic arm using a shortest time trajectory optimization algorithm to obtain a smooth continuous motion trajectory of the robotic arm.

[0057] Specifically, such as Figure 3 As shown, this method, based on the inverse kinematics results of each process point and the spatial position constraints of the robot arm joints, utilizes the RRTConnect algorithm to plan a continuous path through all process points in the robot joint space. After considering the velocity and acceleration constraints of each joint of the robot arm, a time-optimal trajectory planning algorithm is used to add joint angular velocity and angular acceleration information to the planned path, ensuring the smoothness and continuity of joint angular velocity and angular acceleration, thus achieving efficient time-optimal trajectory planning and obtaining the actual detection trajectory. This planning algorithm is then extended to automated inspection applications.

[0058] In one embodiment of the present invention, the obtained continuous path is processed by the shortest time trajectory optimization algorithm to obtain a smooth continuous motion trajectory of the robotic arm. Specifically, the process includes: determining an existing path expression; obtaining the first and second time derivatives of the path based on the existing path expression; determining a first inequality based on joint velocity constraints and the first time derivative; solving the first inequality to obtain a maximum velocity curve V1 that satisfies the joint velocity constraints; determining a second inequality based on joint acceleration constraints and the second time derivative; solving the second inequality to obtain a maximum velocity curve V2 that satisfies the joint acceleration constraints; and determining a maximum velocity curve V3 based on the maximum velocity curves V1 and V2, which serves as the optimal detection trajectory.

[0059] Furthermore, for the already planned fixed paths The joint space vector can be represented as q(s)∈R n By taking the first and second derivatives with respect to s, we can obtain

[0060]

[0061]

[0062] in, This represents the first-order time derivative of s. This represents the second time derivative of s;

[0063] The joint velocity constraint is:

[0064]

[0065] Where i represents the i-th joint of the robotic arm, and n represents the number of joints in the robotic arm;

[0066] Substituting formula (1) into formula (3) yields:

[0067]

[0068] because If the above formula holds true, it can be further transformed into...

[0069]

[0070] Based on the above inequalities, the maximum velocity curve V1 under the joint velocity constraint can be solved.

[0071] Furthermore, the joint acceleration constraint is as follows:

[0072]

[0073] Substituting formula (2) into formula (6) yields...

[0074]

[0075] The above formula is equivalent to

[0076]

[0077] in,

[0078]

[0079]

[0080] And should satisfy

[0081]

[0082] Substitute equations (9) and (10) into equation (11), and set the inequality equation to 0 to determine the boundary.

[0083]

[0084] Equivalent to

[0085]

[0086] Defining acceleration constraints leads to velocity constraints achievable

[0087]

[0088] in

[0089]

[0090] This allows us to find the maximum velocity curve V2 that satisfies the acceleration constraint;

[0091] like Figure 4 As shown, the maximum velocity curve V2 under acceleration and the maximum joint velocity curve V1 are combined, and the minimum value of the two is used to determine the maximum velocity curve V3, thus completing the time-optimal trajectory planning V3 under a fixed path.

[0092] like Figure 5 The diagram shown is a flowchart of one embodiment of the present invention, which can be summarized as follows:

[0093] 1. Generate the process points to be inspected based on the CAD model of the workpiece to be inspected;

[0094] 2. The workpiece is calibrated using a multi-sensor calibration method, and the coordinates of the process points on the workpiece are transformed to the base coordinate system of the robotic arm based on the calibration results.

[0095] 3. Construct a forward motion model of the robotic arm, and further construct an inverse kinematics analytical model of the robotic arm. Use an optimal posture selection algorithm to select the optimal set of solutions from multiple sets of inverse solutions, and record the optimal inverse solutions of the robotic arm at each process point.

[0096] 4. Use the RRTConnect algorithm to plan the path between process points and obtain a continuous path that passes through all process points;

[0097] 5. The time-optimal trajectory optimization algorithm is used to plan the joint angular velocity and angular acceleration to obtain a smooth and continuous motion trajectory, guiding the robot to scan and detect the moving surfaces of the aircraft.

[0098] Based on the above method, the present invention achieves the following effects:

[0099] 1. The optimal solution is selected from multiple sets of inverse solutions using the optimal posture selection strategy, which avoids singularities and achieves smooth switching between inverse solutions at different process points.

[0100] 2. Continuous path planning for the robotic arm was achieved using the RRTConnect path planning algorithm. Compared with the point-by-point planning method, the continuous path planning method improves the efficiency of scanning and detection.

[0101] 3. The joint angular velocity and angular acceleration of the robotic arm were planned using a time-optimal trajectory planning algorithm, ensuring the smoothness of the robotic arm's movement.

[0102] The above describes a method for optimal posture selection and continuous path planning for a robotic arm, as provided in an embodiment of the present invention. Based on the same inventive concept, the present invention also provides a corresponding device for optimal posture selection and continuous path planning for a robotic arm, such as... Figure 6 As shown.

[0103] The process point acquisition module 602 is used to acquire process points in the robot arm's base coordinate system.

[0104] The optimal inverse solution selection module 604 is used to obtain multiple sets of inverse solutions of the robotic arm at the process point, select an optimal inverse solution from the multiple sets of inverse solutions based on the optimal posture selection algorithm, and record the optimal inverse solution of the robotic arm at each process point.

[0105] The path planning module 606 is used to perform path planning between process points based on the optimal inverse solution, and obtain a continuous path that passes through all process points.

[0106] The motion trajectory implementation module 608 is used to add joint angular velocity and angular acceleration information to the planned continuous path to obtain a smooth continuous motion trajectory of the robotic arm.

[0107] This invention also provides a corresponding device for optimal posture selection and continuous path planning of a robotic arm, such as... Figure 7 As shown, it includes:

[0108] The system includes at least one processor 702, a communication interface 704, a memory 706, and a communication bus 708; wherein the processor 702, the communication interface 704, and the memory 706 communicate with each other through the communication bus 708; the processor 702 can call the logical instructions stored in the memory 706 to cause at least one processor 702 to execute the steps of the above embodiments.

[0109] Based on the same idea, some embodiments of the present invention also provide media corresponding to the above methods.

[0110] Some embodiments of the present invention provide a storage medium storing computer-executable instructions, which are executed by a processor to implement the steps of the embodiments described above.

[0111] The various embodiments in this invention are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device and medium embodiments are relatively simple in description because they are fundamentally similar to the method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0112] The devices, media, and methods provided in the embodiments of the present invention are one-to-one correspondences. Therefore, the devices and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0113] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process method or product that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process method or product. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process method or product that includes that element.

[0114] The above are merely embodiments of the present invention and are not intended to limit the invention. Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A method for optimal posture selection and continuous path planning of a robotic arm, characterized in that, include: Obtain the process points in the robot arm's base coordinate system; Obtain multiple sets of inverse solutions for the robotic arm at the process point, select an optimal inverse solution from the multiple sets of inverse solutions based on the optimal posture selection algorithm, and record the optimal inverse solution of the robotic arm at each process point; Based on the optimal inverse solution, path planning is performed between process points to obtain a continuous path passing through all process points; Adding joint angular velocity and angular acceleration information to the planned continuous path yields a smooth continuous motion trajectory of the robotic arm. Specifically, this includes: acquiring joint velocity and acceleration constraints of the robotic arm; and processing the obtained continuous path based on the joint velocity and acceleration constraints using a shortest-time trajectory optimization algorithm to obtain a smooth continuous motion trajectory of the robotic arm. The obtained continuous path is processed by the shortest time trajectory optimization algorithm to obtain a smooth continuous motion trajectory of the robotic arm. Specifically, this includes: determining an existing path expression; obtaining the first and second time derivatives of the path based on the existing path expression; determining a first inequality based on joint velocity constraints and the first time derivative; solving the first inequality to obtain the maximum velocity curve V1 that satisfies the joint velocity constraints; determining a second inequality based on joint acceleration constraints and the second time derivative; solving the second inequality to obtain the maximum velocity curve V2 that satisfies the joint acceleration constraints; and determining the maximum velocity curve V3 as the optimal detection trajectory based on the minimum value of the maximum velocity curves V1 and V2.

2. The method according to claim 1, characterized in that, The acquisition of process points in the robot arm's base coordinate system specifically includes: A set of discretized process points are generated based on the CAD model of the workpiece to be inspected; The workpiece calibration results are obtained through a multi-sensor calibration method. Based on the workpiece calibration results, the generated process points are converted to represent them in the robot arm's base coordinate system.

3. The method according to claim 1, characterized in that, The acquisition of multiple sets of inverse solutions of the robotic arm at the process point specifically includes: Based on the kinematic model parameters, construct the forward kinematics DH model and the inverse kinematics analytical solution model of the robotic arm; Based on the analytical solution model of the inverse kinematics of the robotic arm, multiple sets of inverse solutions for the robotic arm at the process point in the base coordinate system are obtained.

4. The method according to claim 3, characterized in that, The optimal pose selection algorithm selects one optimal inverse solution from the multiple sets of inverse solutions, specifically including: The state of the robotic arm is defined based on spatial characteristics, and a first preset condition and a second preset condition are determined based on the state of the robotic arm. When determining the inverse solution of the process point, select a set of inverse solutions that satisfy the first preset condition as the optimal solution; If there is no solution that satisfies the first preset condition, then a set of inverse solutions that satisfies the second preset condition is selected as the optimal solution.

5. The method according to claim 4, characterized in that, The states of the robotic arm include wrist rotation, elbow up and down, and base forward and backward. The first preset condition is: the same as the current state of the robotic arm; The second preset condition is: different from the state of the robotic arm's wrist or elbow.

6. The method according to claim 1, characterized in that, The step of path planning between process points based on the optimal inverse solution specifically includes: The optimal inverse kinematics solution for each process point is obtained. Based on the spatial position constraints of the robotic arm joints, the optimal inverse kinematics solution is processed by the RRTConnect algorithm to obtain the path planning between process points.

7. A device for optimal posture selection and continuous path planning of a robotic arm, characterized in that, include: The process point acquisition module is used to acquire process points in the robot arm's base coordinate system; The optimal inverse solution selection module is used to obtain multiple sets of inverse solutions for the robotic arm at the process point, select an optimal inverse solution from the multiple sets of inverse solutions based on the optimal posture selection algorithm, and record the optimal inverse solution of the robotic arm at each process point. The path planning module is used to plan the path between process points based on the optimal inverse solution and obtain a continuous path that passes through all process points. The motion trajectory implementation module is used to add joint angular velocity and angular acceleration information to the planned continuous path to obtain a smooth continuous motion trajectory of the robotic arm. Specifically, it includes: obtaining joint velocity and acceleration constraints of the robotic arm; and processing the obtained continuous path based on the joint velocity and acceleration constraints of the robotic arm using a shortest time trajectory optimization algorithm to obtain a smooth continuous motion trajectory of the robotic arm. The obtained continuous path is processed by the shortest time trajectory optimization algorithm to obtain a smooth continuous motion trajectory of the robotic arm. Specifically, this includes: determining an existing path expression; obtaining the first and second time derivatives of the path based on the existing path expression; determining a first inequality based on joint velocity constraints and the first time derivative; solving the first inequality to obtain the maximum velocity curve V1 that satisfies the joint velocity constraints; determining a second inequality based on joint acceleration constraints and the second time derivative; solving the second inequality to obtain the maximum velocity curve V2 that satisfies the joint acceleration constraints; and determining the maximum velocity curve V3 as the optimal detection trajectory based on the minimum value of the maximum velocity curves V1 and V2.

8. A device for optimal posture selection and continuous path planning of a robotic arm, characterized in that, include: At least one processor; and a memory connected in communication with the at least one processor via a bus; wherein, The memory stores instructions executable by the at least one processor, which are executed to implement the method as described in any one of claims 1-6.

9. A non-volatile storage medium storing computer-executable instructions, characterized in that, The computer-executable instructions are executed by a processor to implement the method as described in any one of claims 1-6.

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