Robot visual angle planning method and system based on joint space motion pattern clustering

CN122401401APending Publication Date: 2026-07-17NORTH CHINA UNIV OF WATER RESOURCES & ELECTRIC POWER
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NORTH CHINA UNIV OF WATER RESOURCES & ELECTRIC POWER
Filing Date
2026-05-12
Publication Date
2026-07-17

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Abstract

本发明公开了一种基于关节空间动作模式聚类的机器人视角规划方法及系统，属于农业机器人采摘控制技术领域。针对现有技术中视点与动作割裂、逆解选择任意导致的运动不可行及路径不连续问题，提出一种双层规划方案。该方法包括根据目标点云生成候选视角，求解逆运动学获得多组关节配置，并利用密度聚类形成具有相似运动特性的动作模式；依据安全优先与代价次优策略选取代表动作，并通过感知收益、运动代价及关节安全裕度等指标进行综合评分以选择最优模式。本发明将逆运动学多解性转化为优化自由度，实现了感知决策与运动执行的深度耦合，有效提升了采摘机器人在高度遮挡环境下的作业稳定性与规划成功率。
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