多自由度机械臂的避障运动规划方法和装置
By combining the multi-strategy enhanced Fick's law algorithm and B-spline curves, the problems of local optima and poor trajectory smoothness of multi-degree-of-freedom robotic arms in complex and confined spaces are solved, achieving high-precision obstacle boundary approximation and dynamic smoothness, thus ensuring the safe and efficient operation of the robotic arm.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- LANZHOU UNIVERSITY OF TECHNOLOGY
- Filing Date
- 2026-05-15
- Publication Date
- 2026-07-17
AI Technical Summary
Existing multi-degree-of-freedom robotic arm motion planning algorithms are prone to getting stuck in local optima in complex and constrained spaces, have low accuracy in approaching obstacle limit boundaries, and suffer from poor trajectory smoothness due to discrete waypoint planning.
The multi-strategy enhanced Fick's law algorithm (FNMFLA) is adopted, which combines the golden sine operator, Grünwald-Letnikov fractional calculus and Nedler-Mead simplex strategy. By constructing a multi-objective coupled fitness function of full-link obstacle avoidance potential energy, target guidance potential energy and joint limit constraint potential energy, and combining B-spline curves for trajectory smoothing, high-precision manifold boundary approximation and dynamic smoothness are achieved.
It effectively escapes local optima, achieving high-precision obstacle boundary approximation and trajectory smoothness, ensuring the safety and efficiency of the robotic arm in complex equipment manufacturing and special operations.
Smart Images
Figure CN122210649B_ABST