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Robot local path planning method

A technology for local path planning and robotics, applied in the field of robotic systems, it can solve problems such as the inability to guarantee the optimal path and long response time, and achieve the effects of achieving coordinated operation, improving the success rate, and reducing energy consumption.

Inactive Publication Date: 2017-07-28
JIANGSU R & D CENTER FOR INTERNET OF THINGS
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, these commonly used methods have problems such as long response time and inability to guarantee the optimal path.

Method used

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with specific drawings and embodiments.

[0027] The present invention will be further described below in conjunction with specific drawings and embodiments.

[0028] The robot local path planning method proposed by the present invention mainly includes the following two parts:

[0029] (1) Adopting the visual subsystem for closed-loop detection technology;

[0030] The robotic arm subsystem is separated from the mobile chassis subsystem, and the closed-loop detection and control is performed through the vision subsystem to realize the grasping or placing of the target object by the robotic arm at the optimal base position, while reducing the energy consumption of the robot system.

[0031] Aiming at the problem that the robot is far away from the target object and its positioning accuracy is low, it is proposed to use the vision subsystem for closed-loop detection. After the robot approaches the targ...

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Abstract

The invention provides a robot local path planning method which comprises following two parts: (1) a vision sub-system is adopted to perform closed-loop detection: a mechanical arm sub-system is separated from a mobile underpan sub-system, closed-loop detection control is performed through the closed-loop detection, and pick or place from the mechanical arm to a target object on the best substrate position is realized; (2) the local path plan is formed by a combination of the artificial potential field and the RRT algorithm, and mobile underpan and mechanical arm separation plan is realized through the local path plan; when the local path plan is performed, the mobile underpan adopts the artificial potential field to plan, and after every local path planning, the mechanical arm is planned through the RRT algorithm to judge if the movement of avoiding barrier and smoothly pick up a target object can be completed. According to the invention, the different plans for the mobile underpan and the mechanical arm are combined, so that overall coordination operation of the robot is realized.

Description

technical field [0001] The invention relates to a robot system, in particular to a robot local path planning method. Background technique [0002] The development of the robot industry has brought great help to human production and life. At the same time, the increasing demand of human beings is also the driving force for the development of the robot industry. The two complement each other. Operability and mobility are the most basic functional components of a robot. The traditional robotic arm commonly used in industrial production has a fixed position and limited working space, which greatly restricts the expansion of the functions of the robotic arm. The current common wheeled robots also need to be further strengthened in their operational capabilities. Because of this, the mobile robotic arm has emerged as the times require, which not only has the mobility of a wheeled robot, but also has the operational performance of a robotic arm, which has become a trend in the de...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02B25J9/16
CPCB25J9/1664B25J9/1697G05D1/0231
Inventor 宋少博赵旦谱台宪青
Owner JIANGSU R & D CENTER FOR INTERNET OF THINGS
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