A bidirectional robot arm path planning method based on end effector TCP local obstacle density perception

By adopting a bidirectional robotic arm path planning method based on TCP local obstacle density perception, the efficiency and safety issues of robotic arm path planning in complex obstacle environments are solved, and efficient and safe path planning and optimization are achieved.

CN122401410APending Publication Date: 2026-07-17HENAN UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
HENAN UNIV OF SCI & TECH
Filing Date
2026-05-22
Publication Date
2026-07-17

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Abstract

本发明公开了一种基于末端执行器TCP局部障碍密度感知的双向机械臂路径规划方法；建立机械臂运动学模型、关节约束模型及障碍物环境模型，通过正向运动学确定前沿节点对应的末端执行器工具中心点空间位置，在该位置邻域内估计局部障碍密度；以起始关节位姿和目标关节位姿初始化双向搜索树，在预设交换周期下切换活动树与被动树，根据局部障碍密度自适应选择采样模式和扩展步长，在树扩展与树连接过程中执行连续碰撞检测；在获得初始可行路径后，进行自适应贪心修剪，再进行分段B样条平滑和碰撞复核，最终输出无碰撞优化路径；在复杂障碍环境下兼顾规划成功率、搜索效率、路径节点规模、路径平滑性和工程可执行性，具有软件部署性和工程应用价值。
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