An industrial mechanical arm carrying path planning method based on a time-varying directed graph

Abstract

The invention relates to an industrial mechanical arm carrying path planning method based on a time-varying directed graph, and the method comprises the following steps: (1) dividing stations into a static station and a dynamic station according to the condition whether nodes of a waiting area and a working area are in a working state or not; (2) adopting a mechanical arm to carry the product between the nodes of the two stations, and the time weight between the nodes is the sum of the carrying time Tm and the waiting time Tw between the two nodes; and (3) establishing a directed graph model through the time weight obtained in the above step, and after determining the directed graph, searching a shortest path for directed graph traversal based on the directed graph. The path planning method is suitable for an application scene with dynamically changing node weights, the problem that a planned path is not globally optimal is solved, the predictability and uniqueness of a path planning result are ensured, and the path planning method can be applied to the industrial field.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a method for planning a transport path of an industrial manipulator based on a time-varying directed graph. Background technique [0002] In the field of industrial production, there is often the situation of moving products between the waiting area and the working area. In the process of handling, path planning problems are often encountered. At present, the traditional path planning algorithms are all based on static directed graphs with fixed weights. , such as: best-first search algorithm, random road map method PRM, rapid expansion random number method, dynamic programming algorithm, heuristic algorithm, etc. [0003] However, when the number of working stations and waiting stations is not equal, the state of working stations will change with time, and static weights cannot be used, but time-varying dynamic weights are needed for path planning. [0004] Because at this time, th...

AI Technical Summary

Problems solved by technology

[0009] Aiming at the above-mentioned problems in the process of transporting products between the waiting area and the working area in the industrial field, the present invention discloses an efficient and fast method for planning the transport path of industrial manipulators based on time-varying directed graphs. The path planning method uses dynamic The weighting method solves the problem that the planned path is not globally optimal, ensures the predictability and uniqueness of the path planning results, makes the path planning method applicable to the industrial field, and solves the time-varying and simultaneous existence of work stations Application Scenarios of Multiple Shortest Paths

Images