Novel autonomous assembly robot path planning autonomous navigation system and method

Abstract

The invention discloses a novel autonomous assembly robot path planning autonomous navigation system and method. The system comprises an assembly robot model establishing unit, a camera shooting unit,an obstacle model establishing unit, a point cloud model establishing unit, a joint angle obtaining unit, a single-chip microcomputer, a three-dimensional coordinate system establishing unit, a calculating unit, a judging unit, a moving path detecting unit, a manual adjusting unit and a path exporting unit. The invention relates to the technical field of robots. When the novel autonomous assemblyrobot path planning autonomous navigation system and method are used, the path planning is conducted by introducing an artificial potential field and establishing a three-dimensional coordinate system model, the system and method can adapt to changes of the assembly working environment, obstacles can be effectively avoided, obstacle avoidance of the robot in the process of moving to a target point is achieved, and the service life of the robot is prolonged. The gradient descent algorithm can be optimized from the initial configuration to the final target configuration of the assembly robot, so the robot moves in the direction of reducing potential energy.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a novel autonomous navigation system and method for path planning of an autonomous assembly robot. Background technique [0002] Robot path planning has always been a difficult problem restricting the application of robots. The level of its path planning determines the efficiency of the robot to a certain extent. Finding an optimal path without collisions must satisfy the optimization of corresponding parameters, such as the shortest path, the shortest time, Minimum energy consumption, etc. The traditional artificial potential field was originally used to solve the problem that the arm of the robot could not touch the workbench when grabbing objects. Later, it was applied to the obstacle avoidance of the robot. The main idea is to combine the robot, the target point and the obstacle Objects are simplified into points, the target point produces gravitational force on the robot, and...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a new type of autonomous navigation system and method for autonomous assembly robot path planning, which solves the problem that when obstacles are near the target point, the robot will oscillate around the target point, causing the robot to be unable to The problem of getting to the target point

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