机械臂作业控制方法、装置、设备及存储介质
By segmenting the cleaning path and utilizing linear extrapolation and joint self-motion strategies, the robotic arm achieves continuous cleaning on curved surfaces, solving the problem of low efficiency caused by singularities and limitations, and improving cleaning efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUANGZHOU SHIYUAN ELECTRONICS CO LTD
- Filing Date
- 2023-01-29
- Publication Date
- 2026-07-17
AI Technical Summary
When cleaning curved surfaces, robotic arms are limited by oddities, joint constraints, or environmental factors, making it difficult to directly complete long cleaning paths. Frequent lifting of the end effector to adjust its position leads to low efficiency.
The cleaning path is divided into multiple cleaning sub-paths. The expected joint state of the robotic arm at each path point is determined by a linear extrapolation strategy. The transition at the connection point is achieved through a joint self-motion strategy to ensure continuous movement of the robotic arm.
It improves the cleaning efficiency of the robotic arm, ensures the continuity of the cleaning process and the quality of path planning, and avoids wasting time by frequently lifting the end effector.
Smart Images
Figure CN118404573B_ABST