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Collision avoidance trajectory planning method and device based on articulated arm robot

A trajectory planning, articulated arm technology, applied in instruments, manipulators, control/adjustment systems, etc., can solve the problem of low overall operation efficiency

Active Publication Date: 2017-12-08
GUANGZHOU ZSROBOT INTELLIGENT EQUIP CO LTD +1
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  • Abstract
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Problems solved by technology

[0003] The main purpose of the present invention is to provide a collision avoidance trajectory planning method and device based on an articulated arm robot, aiming to solve the problem that the existing articulated arm robot is only suitable for relatively simple tasks, and because it has not been optimized, the overall efficiency of its operations Not high, and in order to avoid collisions and mistakes, technical problems that require manual intervention during the operation

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  • Collision avoidance trajectory planning method and device based on articulated arm robot
  • Collision avoidance trajectory planning method and device based on articulated arm robot
  • Collision avoidance trajectory planning method and device based on articulated arm robot

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Embodiment Construction

[0060] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0061] Apparatus for implementing various embodiments of the present invention will now be described with reference to the accompanying drawings. In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating description of the present invention and has no specific meaning by itself. Therefore, "module" and "component" may be used mixedly.

[0062] The collision avoidance trajectory planning method and device based on the articulated arm robot can be implemented in various forms. For example, the processing method and apparatus described in the present invention may include various equipment terminals. In the following, it is assumed that the device is a kind of fixed equipment terminal. However, those skilled in the art will understand that the confi...

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Abstract

The invention discloses a collision avoidance trajectory planning method and device based on an articulated arm robot. Alternate collision avoidance trajectory sequence is generated in the specified time according to job task requirements, three factors such as the path length, articulation rotating total amount and the used time of operation are considered, the best collision avoidance trajectory is chosen from the trajectory sequence, so that autonomous collision avoidance path planning is achieved, and manual intervention during the operation process is avoided.

Description

technical field [0001] The invention relates to the field of automatic trajectory planning, in particular to a collision avoidance trajectory planning method and device based on an articulated arm robot. Background technique [0002] The articulated arm robot has multi-degree-of-freedom joints, and uses human grasping operation experience for task planning and command design. broadly used. In order to improve the operational performance and operation level of the articulated arm robot, the autonomous planning capability has become a basic function necessary for the articulated arm robot, and the most important function of the autonomous planning is the trajectory planning for collision avoidance. Traditionally, the goal of collision avoidance trajectory planning is to find a collision-avoiding trajectory between a start configuration and a goal configuration. Existing research and applications focus on the optimization of the collision avoidance trajectory of the articulat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666G05B2219/39082
Inventor 刁世普陈新度吴磊赖火生
Owner GUANGZHOU ZSROBOT INTELLIGENT EQUIP CO LTD
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