Method and system for planning shortest motion path of mechanical arm of industrial robot

Abstract

The invention discloses a method and system for planning the shortest motion path of a mechanical arm of an industrial robot, and the method comprises the steps: building a rectangular plane coordinate system with the working range of the mechanical arm of the industrial robot as a reference; the coordinate position of each working point in the working range of the industrial robot mechanical arm is obtained; based on the coordinate position of each working point, calculating the distance between the working points; generating a complete graph data structure with a weight based on the distance between the working points, and constructing an adjacent matrix representing the complete graph data structure; based on the adjacent matrix, generating a distance matrix and a working point sequence matrix through a Floyd algorithm; and generating a shortest motion path between any two working points based on the distance matrix and the working point sequence matrix. The motion path of the industrial robot mechanical arm can be reasonably planned, loss and abrasion of the industrial robot mechanical arm are reduced, and meanwhile the structure is simple, computing resource consumption is small, and space complexity is low.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, and in particular to a method and system for planning the shortest motion path of an industrial robot mechanical arm. Background Art

[0002] With the rapid development of computer and automation technology, industrial robot arms play a key role in industrial automation with their high precision, multiple degrees of freedom and intelligent characteristics. They can not only perform highly repetitive and labor-intensive tasks, but also have the ability to operate safely in harsh environments, significantly improving production efficiency and product quality, and promoting the transformation of the manufacturing industry to intelligence and digitalization.

[0003] However, the industrial robot arm is highly integrated and complex in structure. It is not only precise in structure but also expensive. Therefore, the motion path of the industrial robot arm must be reasonably planned to reduce the loss and wear of the industrial robot arm, increase the service life of the industrial robot arm, and reduce costs.

[0004] Most of the existing industrial robot path planning methods are shortest motion path planning algorithms or obstacle avoidance motion path planning methods for industrial robots, and there is a lack of shortest motion path planning methods specifically for industrial robot manipulators. In addition, the industrial robot manipulator path planning methods based on computer vision or spatial map models have complex structures, high training difficulty, high computing resources, and large delays. Summary of the invention

[0005] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide a method and system for the shortest motion path planning of an industrial robot manipulator arm, aiming to solve the problem that there is currently a lack of a shortest motion path planning method specifically for industrial robot manipulator arms, and that the industrial robot manipulator arm path planning method based on computer vision or spatial map models is complex in structure, requires high computing resources, and will produce large time delays.

[0006] In view of the above problems, the present application provides a method and system for planning the shortest motion path of an industrial robot manipulator arm.

[0007] The first aspect disclosed in the present application provides a method for planning the shortest motion path of an industrial robot manipulator, the method comprising the following steps: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

[0008] Preferably, before executing S1, a reference point is set in the working range of the industrial robot arm as the origin of the plane rectangular coordinate system.

[0009] Preferably, the S2 specifically includes the following steps: S201: Obtain an image of the working range of the industrial robot arm through a visual sensor; S202: Obtaining the specific position of each working point in the image through image segmentation and target detection algorithms; S203: Generate the coordinate position of each working point on the plane rectangular coordinate system based on the specific position.

[0010] Preferably, the S3 specifically includes the following steps: S301: Obtain the coordinate position (x i ,y i ) and (x j ,y j ), where i≠j; S302: If there is an obstacle between work point i and work point j or the robot arm cannot reach it directly, the distance d between the two work points i,j Set to infinity∞; S303: Calculate the distance d between working point i and working point j using Euclidean distance i,j , expressed as: d i,j =[(x i -x j ) 2 +(y i -y j ) 2 ] 1 / 2 ; The above steps are calculated in parallel to calculate the distance between each working point.

[0011] Preferably, S4 specifically includes: taking each working point as a vertex and the distance between each working point as the weight of an edge, generating a weighted complete graph data structure, and representing the weighted complete graph data structure by constructing an adjacency matrix, wherein the adjacency matrix is ​​represented as:

[0012] Where n is the number of working points, d i,j represents the distance between working point i and working point j, i=1,2,...,n, j=1,2,...,n, where when i=j, d i,j =0.

[0013] Preferably, the S5 specifically includes the following steps: S501: define an initial distance matrix D and an initial working point sequence matrix S, assign the adjacency matrix to the initial distance matrix D, and initialize each element of the initial working point sequence matrix S to S i,j =j; S502: The distance matrix D and the working point sequence matrix S are iteratively calculated by the Floyd algorithm. After the iteration is completed, the element D of the distance matrix D i,j That is, the shortest motion path distance from working point i to working point j, and the element S of the working point sequence matrix S i,j That is, the middle working point of the shortest motion path from working point i to working point j, where i=1,2,...,n, j=1,2,...,n, and n is the number of working points.

[0014] The second aspect disclosed in the present application provides a system for planning the shortest motion path of an industrial robot manipulator arm, the system being used for the above-mentioned method for planning the shortest motion path of an industrial robot manipulator arm, the system comprising: A system building module, wherein the system building module is used to establish a plane rectangular coordinate system based on the working range of the industrial robot mechanical arm; A coordinate module is used to obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); A distance module, which is used to calculate the distance between each working point based on the coordinate position of each working point, wherein if there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; A weighted graph module, the weighted graph module is used to generate a complete graph data structure with weights based on the distances between each working point, and to construct an adjacency matrix representing the complete graph data structure; An algorithm module, wherein the algorithm module generates a distance matrix and a working point sequence matrix through a Freud algorithm based on the adjacency matrix; A shortest motion path generation module is used to generate the shortest motion path between any two working points based on the distance matrix and the working point sequence matrix.

[0015] According to a third aspect of the present application, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

[0016] According to a fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

[0017] According to a fifth aspect of the present application, a computer program product is provided, including a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the following steps are implemented: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

[0018] The beneficial effects of the present invention are: (1) A shortest motion path planning method specifically for an industrial robot arm is provided, which can reasonably plan the motion path of the industrial robot arm, reduce the loss and wear of the industrial robot arm, and increase the service life of the industrial robot arm; (2) Use the coordinates of the plane rectangular coordinate system to calculate the distance and plan the shortest motion path. It has a simple structure, does not require training, consumes less computing resources, and has low latency. (3) The shortest motion path of the industrial robot arm is represented in the form of a matrix, which does not occupy a large amount of extra memory space and has low space complexity. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 The figure is an overall flow chart of a method for planning the shortest motion path for an industrial robot arm.

[0021] Figure 2 This is the overall structure diagram of the shortest motion path planning system for an industrial robot arm. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] like Figure 1 As shown, an embodiment of the present application provides a method for planning the shortest motion path of an industrial robot manipulator, the method comprising the following steps: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

[0024] Furthermore, before the execution of S1, a reference point needs to be set at the lower left corner of the working range of the industrial robot arm as the origin of the plane rectangular coordinate system.

[0025] Furthermore, the S2 specifically includes the following steps: S201: Obtain an image of the working range of the industrial robot arm through a visual sensor; S202: Obtaining the specific position of each working point in the image through image segmentation and target detection algorithms; S203: Generate the coordinate position of each working point on the plane rectangular coordinate system based on the specific position.

[0026] Specifically, a reference point is set at the lower left corner of the working range of the industrial robot arm, and the reference point is used as the origin of the plane rectangular coordinate system to establish a plane rectangular coordinate system. Then, an image of the working range of the industrial robot arm is obtained through a visual sensor, and the image segmentation and target detection algorithms of OpenCV are used to obtain the specific positions of each working point in the image. Finally, based on the specific positions of each working point on the image, the coordinate positions of each working point on the plane rectangular coordinate system are generated.

[0027] Furthermore, the S3 specifically includes the following steps: S301: Obtain the coordinate position (x i ,y i ) and (x j ,y j ), where i≠j; S302: If there is an obstacle between work point i and work point j or the robot arm cannot reach it directly, the distance d between the two work points i,j Set to infinity∞; S303: Calculate the distance d between working point i and working point j using Euclidean distance i,j , expressed as: d i,j =[(x i -x j ) 2 +(y i -y j ) 2 ] 1 / 2 ; The above steps are calculated in parallel to calculate the distance between each working point.

[0028] Further, S4 specifically includes: using each working point as a vertex and the distance between each working point as the weight of the edge, generating a weighted complete graph data structure, and constructing an adjacency matrix to represent the weighted complete graph data structure, the adjacency matrix is ​​represented as:

[0029] Where n is the number of working points, d i,j represents the distance between working point i and working point j, i=1,2,...,n, j=1,2,...,n, where when i=j, d i,j =0.

[0030] Specifically, for any pair of coordinate positions (x i ,y i ) and (x j ,y j ), if there is an obstacle between work point i and work point j or the robot arm cannot reach it directly, the distance d between the two work points i,j Set to infinity ∞ to indicate that it is unreachable, otherwise the Euclidean distance is used to calculate the distance d between work point i and work point j. i,j =[(x i -x j ) 2 +(y i -y j ) 2 ] 1 / 2 , calculate the distance between all working points in parallel, a total of n 2 Next, all working points are taken as vertices of the complete graph data structure, and the distances between all working points are taken as the weights of the corresponding edges of the complete graph data structure to construct an adjacency matrix.

[0031] Furthermore, the S5 specifically includes the following steps: S501: define an initial distance matrix D and an initial working point sequence matrix S, assign the adjacency matrix to the initial distance matrix D, and initialize each element of the initial working point sequence matrix S to S i,j =j; S502: The distance matrix D and the working point sequence matrix S are iteratively calculated by the Floyd algorithm. After the iteration is completed, the element D of the distance matrix D i,j That is, the shortest motion path distance from working point i to working point j, and the element S of the working point sequence matrix S i,j That is, the middle working point of the shortest motion path from working point i to working point j, where i=1,2,...,n, j=1,2,...,n, and n is the number of working points.

[0032] Specifically, define the initial distance matrix D and the initial working point sequence matrix S, assign the adjacency matrix to the initial distance matrix D, and initialize each element of the initial working point sequence matrix S to S i,j=j, and then perform n iterations, in each iteration, set the value of k to 1, 2, ..., n, and perform the following operations: If condition D is met i,k +D k,j <D i,j , where i≠k, j≠k, i≠j, then use D i,k +D k,j Replace the element D in the distance matrix D i,j , replace the element S in the working point sequence matrix S with k i,j ; After the iteration is completed, the element D of the distance matrix D i,j That is, the shortest motion path distance from working point i to working point j, and the element S of the working point sequence matrix S i,j That is, the middle working point of the shortest motion path from working point i to working point j.

[0033] In summary, the shortest motion path planning method for an industrial robot manipulator provided in the embodiments of the present application has the following technical effects: (1) A shortest motion path planning method specifically for an industrial robot arm is provided, which can reasonably plan the motion path of the industrial robot arm, reduce the loss and wear of the industrial robot arm, and increase the service life of the industrial robot arm; (2) Use the coordinates of the plane rectangular coordinate system to calculate the distance and plan the shortest motion path. It has a simple structure, does not require training, consumes less computing resources, and has low latency. (3) The shortest motion path of the industrial robot arm is represented in the form of a matrix, which does not occupy a large amount of extra memory space and has low space complexity.

[0034] Based on the same inventive concept as the method for planning the shortest motion path of an industrial robot manipulator in the aforementioned embodiment, Figure 2 As shown, the present application provides a shortest motion path planning system for an industrial robot manipulator, the system comprising: A system building module, wherein the system building module is used to establish a plane rectangular coordinate system based on the working range of the industrial robot mechanical arm; A coordinate module is used to obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); A distance module, which is used to calculate the distance between each working point based on the coordinate position of each working point, wherein if there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; A weighted graph module, the weighted graph module is used to generate a complete graph data structure with weights based on the distances between each working point, and to construct an adjacency matrix representing the complete graph data structure; An algorithm module, wherein the algorithm module generates a distance matrix and a working point sequence matrix through a Freud algorithm based on the adjacency matrix; A shortest motion path generation module is used to generate the shortest motion path between any two working points based on the distance matrix and the working point sequence matrix.

[0035] Through the above-mentioned detailed description of the shortest motion path planning method for an industrial robot manipulator arm in this specification, technical personnel in this field can clearly know the shortest motion path planning system for an industrial robot manipulator arm in this embodiment. Since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0036] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

[0037] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

[0038] In one embodiment, a computer program product is provided, including a computer program or instructions, which, when executed by a processor, implements the following steps: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

[0039] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for planning the shortest motion path of an industrial robot arm, characterized in that: The method comprises the following steps: S1: Establish a plane rectangular coordinate system based on the working range of the industrial robot arm; S2: Obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); S3: Based on the coordinate positions of each working point, the distance between each working point is calculated. If there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; S4: Generate a weighted complete graph data structure based on the distances between each working point, and construct an adjacency matrix representing the complete graph data structure; S5: Based on the adjacency matrix, generate a distance matrix and a working point sequence matrix by using the Freud algorithm; S6: Based on the distance matrix and the working point sequence matrix, generate the shortest motion path between any two working points.

2. The method for planning the shortest motion path of an industrial robot arm according to claim 1, characterized in that: Before the execution of S1, a reference point is set in the working range of the industrial robot arm as the origin of the plane rectangular coordinate system.

3. The shortest motion path planning method for an industrial robot manipulator according to claim 1, characterized in that: The S2 specifically includes the following steps: S201: Obtain an image of the working range of the industrial robot arm through a visual sensor; S202: Obtaining the specific position of each working point in the image through image segmentation and target detection algorithms; S203: Generate the coordinate position of each working point on the plane rectangular coordinate system based on the specific position.

4. The method for planning the shortest motion path of an industrial robot arm according to claim 1, characterized in that: The S3 specifically includes the following steps: S301: Obtain the coordinate position (x i ,y i ) and (x j ,y j ), where i≠j; S302: If there is an obstacle between work point i and work point j or the robot arm cannot reach it directly, the distance d between the two work points i,j Set to infinity∞; S303: Calculate the distance d between working point i and working point j using Euclidean distance i,j , expressed as: d i,j =[(x i -x j ) 2 +(y i -y j ) 2 ] 1 / 2 ; The above steps are calculated in parallel to calculate the distance between each working point.

5. The method for planning the shortest motion path of an industrial robot arm as claimed in claim 1, characterized in that: The S4 specifically includes: using each working point as a vertex and the distance between each working point as the weight of the edge, generating a weighted complete graph data structure, and constructing an adjacency matrix to represent the weighted complete graph data structure, wherein the adjacency matrix is ​​represented as: Where n is the number of working points, d i,j represents the distance between working point i and working point j, i=1,2,...,n, j=1,2,...,n, where when i=j, d i,j =0.

6. The method for planning the shortest motion path of an industrial robot arm according to claim 1, characterized in that: The S5 specifically includes the following steps: S501: define an initial distance matrix D and an initial working point sequence matrix S, assign the adjacency matrix to the initial distance matrix D, and initialize each element of the initial working point sequence matrix S to S i,j =j; S502: The distance matrix D and the working point sequence matrix S are iteratively calculated by the Floyd algorithm. After the iteration is completed, the element D of the distance matrix D i,j That is, the shortest motion path distance from working point i to working point j, and the element S of the working point sequence matrix S i,j That is, the middle working point of the shortest motion path from working point i to working point j, where i=1,2,...,n, j=1,2,...,n, and n is the number of working points.

7. An industrial robot manipulator shortest motion path planning system, characterized in that: The system comprises: A system building module, wherein the system building module is used to establish a plane rectangular coordinate system based on the working range of the industrial robot mechanical arm; A coordinate module is used to obtain the coordinate position of each working point within the working range of the industrial robot manipulator, wherein the coordinate position is: the coordinate (x i ,y i ); A distance module, which is used to calculate the distance between each working point based on the coordinate position of each working point, wherein if there is an obstacle between two nodes or the robot arm cannot reach directly, the distance between the two working points is set to infinity; A weighted graph module, the weighted graph module is used to generate a complete graph data structure with weights based on the distances between each working point, and to construct an adjacency matrix representing the complete graph data structure; An algorithm module, wherein the algorithm module generates a distance matrix and a working point sequence matrix through a Freud algorithm based on the adjacency matrix; A shortest motion path generation module is used to generate the shortest motion path between any two working points based on the distance matrix and the working point sequence matrix.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of a method for planning the shortest motion path of an industrial robot manipulator arm according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for planning the shortest motion path of an industrial robot manipulator arm according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the steps of a method for planning the shortest motion path of an industrial robot manipulator arm according to any one of claims 1 to 6 are implemented.

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