Motion planning system and method for industrial robot to smoothly grasp moving objects
A technology for industrial robots and motion planning, which is applied in the field of object manipulation of robotic systems and can solve problems such as difficulties
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[0075] The technical solution provided by the embodiments of the present invention first needs to build a smooth grasping model that can realize the industrial robot in a complex dynamic environment, so as to describe the attractive relationship between the industrial robot and the target object, and the repulsion between the industrial robot and the obstacle Secondly, when designing the robot obstacle avoidance algorithm, the obstacle avoidance of the robot body should be considered, not just the obstacle avoidance of the end effector. Finally, it is necessary to design a reasonable smooth grasping algorithm, which can ensure that the robot moves and grasps smoothly according to the trajectory of the smooth grasping algorithm. In order to ensure the success of industrial robots in smoothly grasping moving objects, the above three points need to be considered;
[0076] Therefore, the motion planning system designed in this embodiment for an industrial robot to smoothly grab mo...
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