A motion planning method and system for a robot to grasp a flying object

Abstract

The invention discloses a motion planning method and system for a robot to grab a flying object. Based on a motion capture system, it can accurately locate the flying object in real time, and ensure the subsequent prediction of the trajectory of the flying object and the accuracy of the robot grabbing the flying object. The accuracy of trajectory planning; at the same time, the algorithm based on support vector regression is used to model the trajectory of flying objects, which reduces the complexity of modeling the trajectory of flying objects and improves the accuracy of modeling; in addition, using An algorithm based on Gaussian mixture regression is used to model the trajectory of the robot when it grabs the flying object. When the position of the flying object changes, it can still generate a trajectory to reach the target position, which makes up for the error in the prediction of the trajectory of the flying object. .

Description

technical field [0001] The invention relates to the technical field of object manipulation of a robot system, in particular to a motion planning method and system for a robot to grab a flying object. Background technique [0002] The robot's grasping operation technology for static objects and objects on the conveyor belt, such as static or low-speed objects, is relatively mature, but there are still many challenges in the grasping of thrown high-speed flying objects. In daily production In life, the grasping of flying objects is still a necessary task. Therefore, the motion planning of robots grasping flying objects has become a key technology. [0003] The robot grabs flying objects, the whole task includes: [0004] (1) Real-time identification and positioning of high-speed moving flying objects in the environment; [0005] (2) Be able to predict the trajectory of flying objects; [0006] (3) In view of the large error in predicting the trajectory of the flying object,...

AI Technical Summary

Problems solved by technology

[0007] At present, the motion capture system can be used to realize the real-time positioning of the flying objects of the flying objects. However, it is still difficult to predict the trajectory of the flying objects in real time, and because of the error in the prediction, it is necessary to continuously predict the trajectory. In order to reduce errors, for the robot's grasping motion planning, the grasping position is always changing, which brings greater challenges to grasping flying objects

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