CN106695800A - Mechanical arm motion path generation method and system - Google Patents
Mechanical arm motion path generation method and system Download PDFInfo
- Publication number
- CN106695800A CN106695800A CN201710121022.7A CN201710121022A CN106695800A CN 106695800 A CN106695800 A CN 106695800A CN 201710121022 A CN201710121022 A CN 201710121022A CN 106695800 A CN106695800 A CN 106695800A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- point
- mid
- motion path
- target location
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000004888 barrier function Effects 0.000 claims description 35
- 238000004364 calculation method Methods 0.000 claims description 23
- 210000000078 claw Anatomy 0.000 abstract 4
- 230000008859 change Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 9
- 230000007613 environmental effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010411 cooking Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a method and a system for generating a motion path of a mechanical arm, wherein the method comprises the following steps: acquiring the distribution positions of obstacles around the mechanical arm, calculating the safe radius of the mechanical arm according to the distribution positions, and calculating the actual working radius of the mechanical arm according to the safe radius and the size of a tool claw of the mechanical arm; calculating a first intermediate point position of the movement of the mechanical arm according to the initial position of the tool claw and the actual working radius, and calculating a second intermediate point position of the movement of the mechanical arm according to the target position of the tool claw and the actual working radius; and if the target position of the tool claw is in the motion range of the current posture of the mechanical arm, generating a motion path of the mechanical arm according to the initial position, the first intermediate point position, the second intermediate point position and the target position.
Description
Technical field
The present invention relates to technical field of automatic control, more particularly to a kind of manipulator motion path generating method and it is
System.
Background technology
As shown in figure 1, there is the barrier such as peripheral equipment and mechanical arm itself support in manipulator motion space, work as control
Mechanical arm processed from A points move to B points when, it is necessary to plan the motion path of mechanical arm, make the mechanical arm will be in motion process
In do not collided with barrier.
Traditional robotic arm path planning mode mainly uses artificial teaching intermediate point method, is illustrated in fig. 2 shown below, i.e., in machine
The intermediate point that the mechanical arm such as manual taught point T1, T2, T3 runs respectively in people's movement locus, to reach home B's from starting point A
During avoiding obstacles.This kind of mode needs manual teaching each track intermediate point, change after mechanical arm will again teaching it is every
Individual intermediate point, coordinates measurement efficiency is low.
The content of the invention
Based on this, it is necessary to for the low problem of coordinates measurement efficiency, there is provided a kind of manipulator motion path generating method
And system.
A kind of manipulator motion path generating method, comprises the following steps：
The distributing position of the barrier around mechanical arm is obtained, according to the safety that the distributing position calculating machine arm is moved
Radius, the real work radius of the Size calculation machinery arm according to the radius of safety and the instrument pawl of mechanical arm；
First intermediate point of original position and the real work radius calculation manipulator motion according to the instrument pawl
Position, the second point midway of target location and the real work radius calculation manipulator motion according to the instrument pawl
Put；
If the target location of the instrument pawl is in the range of movement of the mechanical arm current pose, according to the start bit
Put, the first mid-point position, the second mid-point position and target location generate the motion path of mechanical arm.
A kind of manipulator motion path generating system, including：
First computing module, the distributing position for obtaining the barrier around mechanical arm, according to the distributing position meter
The radius of safety of manipulator motion is calculated, the reality of the Size calculation machinery arm according to the radius of safety and the instrument pawl of mechanical arm
The radius of clean-up；
Second computing module, for the original position according to the instrument pawl and the real work radius calculation mechanical arm
First mid-point position of motion, target location and the real work radius calculation manipulator motion according to the instrument pawl
The second mid-point position；
First generation module, if for the instrument pawl target location the mechanical arm current pose range of movement
It is interior, the motion road of mechanical arm is generated according to the original position, the first mid-point position, the second mid-point position and target location
Footpath.
Above-mentioned manipulator motion path generating method and system, what the distributing position calculating machine arm according to barrier was moved
Radius of safety, the real work radius of the Size calculation machinery arm according to the radius of safety and the instrument pawl of mechanical arm, according to
First mid-point position of the original position of the instrument pawl and the real work radius calculation manipulator motion, according to described
The target location of instrument pawl and the second mid-point position of the real work radius calculation manipulator motion, and automatically generate machine
The motion path of tool arm, when distribution of obstacles changes, gives birth to automatically by the distributing position of the barrier that need to be only input into after change
The manipulator motion path of Cheng Xin, without each track intermediate point of artificial teaching, planning efficiency is high.
Brief description of the drawings
Fig. 1 is the mechanical arm and distribution of obstacles schematic diagram of one embodiment；
Fig. 2 is the schematic diagram of the artificial teaching motion path intermediate point of one embodiment；
Fig. 3 is the manipulator motion path generating method flow chart of one embodiment；
Fig. 4 is the radius of safety and real work radius schematic diagram of one embodiment；
Fig. 5 is the intermediate point and hand-off area schematic of one embodiment；
Fig. 6 is the manipulator motion path schematic diagram of first embodiment；
Fig. 7 is the manipulator motion path schematic diagram of second embodiment；
Fig. 8 is the structural representation of the manipulator motion path generating system of one embodiment.
Specific embodiment
Technical scheme is illustrated below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention provides a kind of manipulator motion path generating method, it may include following steps：
S1, obtains the distributing position of the barrier around mechanical arm, is moved according to the distributing position calculating machine arm
Radius of safety, the real work radius of the Size calculation machinery arm according to the radius of safety and the instrument pawl of mechanical arm；
In one embodiment, the coordinate system of mechanical arm and distribution of obstacles can be set up, it is preferable that the coordinate system is
Three-dimensional system of coordinate.The central point of mechanical arm base can be set to origin by the three-dimensional system of coordinate, by two on horizontal plane mutually
Vertical direction is set to x-axis and y-axis, and vertical direction is set into z-axis.By setting up coordinate system, can more easily to machinery
Arm position and distribution of obstacles are described.Under the three-dimensional system of coordinate, the distributing position of the barrier can use coordinate
Form show, for example, a coordinate set can be set up, multiple coordinate values can be included in the coordinate set, each
Coordinate value represents a position distribution for barrier, and the coordinate value is represented by the form of (x, y, z).For the ease of distinguishing each
, can also be numbered for each barrier, and the coordinate value of barrier and reference numeral are bound by barrier.
The radius of safety is as shown in Figure 4 with real work radius.In figure, RmaxAnd RminRepresent radius of safety most respectively
Big value and minimum value, WRmaxAnd WRminThe maximum and minimum value of real work radius are represented respectively, and A and B represents starting respectively
Position and target location.The maximum of the radius of safety can be calculated according to distribution of obstacles, can dividing according to barrier
The distance between central point of barrier and mechanical arm base around cloth position acquisition mechanical arm, according to the minimum of the distance
The radius of safety of value calculating machine arm motion.In one embodiment, can be by the minimum value r of the distanceminIt is set to the peace
The maximum of full radius, in another embodiment, it is also possible to be less than r by oneminNumerical value be set to the radius of safety most
Big value.The minimum value of the radius of safety can be calculated according to the size of mechanical arm base.In one embodiment, can be by
The maximum r of the distance of the mechanical arm base each point and mechanical arm base central pointmaxIt is set to the minimum of the radius of safety
Value, in another embodiment, it is also possible to be more than r by onemaxNumerical value be set to the minimum value of the radius of safety.Due to machine
The instrument pawl of tool arm has certain size, therefore, the real work radius of mechanical arm can be calculated according in the following manner：
WRmax=Rmax-d；
WRmin=Rmin+d；
Wherein, d is the size of the instrument pawl of the mechanical arm.
S2, original position according to the instrument pawl and in the middle of the first of the real work radius calculation manipulator motion
Point position, the second point midway of target location and the real work radius calculation manipulator motion according to the instrument pawl
Put；
In one embodiment, during the first mid-point position of calculating machine arm motion, first straight line and institute can be obtained
State the first intersection point of the corresponding border circular areas of real work radius；Wherein, the first straight line be the original position with it is described
The straight line that the central point of the base of mechanical arm is linked to be；Position where one of them first intersection point is set to the point midway
Put.Preferably, first intersection point can be the intersection point of first straight line circle corresponding with the real work radius, such as scheme
Shown in 5.In Figure 5, A ' is the intersection point, namely the intermediate point.During the second mid-point position of calculating machine arm motion, can
To obtain the second intersection point of second straight line border circular areas corresponding with the real work radius；Wherein, the second straight line is
The straight line that the target location is linked to be with the central point of the base of the mechanical arm；By the position where one of them second intersection point
It is the mid-point position to install.Preferably, second intersection point can be the second straight line and the real work radius
The intersection point of corresponding circle, as shown in Figure 5.In Figure 5, B ' is the intersection point, namely the intermediate point.If establishing three-dimensional seat
Mark system, can obtain the coordinate of first intermediate point and the second intermediate point in the three-dimensional system of coordinate, and preserve.
In one embodiment, the limitation due to mechanical arm mechanical parameter in itself to mechanical arm, if mechanical arm keeps
Current pose possibly cannot move to target location, now, during mechanical arm moves to target location from original position
Need to change right-hand man's attitude.Mechanical arm change right-hand man's attitude when, it is necessary to whole mechanical arm is stretched completely, it is necessary to space
Maximum, hand-off point treatment is bad to collide.Therefore, in addition to first mid-point position and the second mid-point position,
May also need to set hand-off position in the motion path of mechanical arm.The hand-off position can be arranged on hand-off region
Interior, hand-off region is area of the distance between the central point of barrier and mechanical arm base more than the maximum length of the mechanical arm
Domain.That is, if the target location of described instrument pawl, can be in hand-off region not in the range of movement of the mechanical arm current pose
Choose to a little less as hand-off point, obtain hand-off position；Wherein, the hand-off region is barrier and mechanical arm base
Region of the distance between the central point more than the maximum length of the mechanical arm.When the maximum length is that mechanical arm is stretched completely
Length.As shown in figure 5, C1 and C2 in figure are hand-off point, in practical situations both, the quantity of hand-off point can also in hand-off region
It is 1 or other quantity.Wherein, when judging that whether mechanical arm keeps current pose can reach target location, can read machine
The mechanical parameter of tool arm, and the region that can be reached according to the mechanical parameter calculating machine arm current pose, if target location
Not in the region, then judge to need switching right and left hand attitude.
S3, if the target location of the instrument pawl is in the range of movement of the mechanical arm current pose, according to described
Beginning position, the first mid-point position, the second mid-point position and target location generate the motion path of mechanical arm.
Assuming that the target location of the instrument pawl need not switch in the range of movement of the mechanical arm current pose
Right-hand man's attitude, directly can generate according to the original position, the first mid-point position, the second mid-point position and target location
The motion path of mechanical arm.Assuming that the target location of the instrument pawl is not in the range of movement of the mechanical arm current pose,
Switching right and left hand attitude is needed, can be hand-off according to what is calculated in the original position, the first mid-point position and step S2
Point position generates the motion path of mechanical arm current pose, and according to the hand-off position, the second mid-point position and target
Motion path after position generation mechanical arm switching attitude.
In practical situations both, due to mechanical arm special construction, need that Z axis are first promoted to the position of safe Z axis in starting point
Put, terminal Z axis position is down to by safe Z axis again in terminal, all intermediate points run all on safe Z axis, that is, walk one
" door " font trajectory.The position of safe Z axis can prestore, and in general, the position of safe Z axis is without often becoming
It is dynamic.When needing to change the hoisting depth of mechanical arm, the position of the safe Z axis for prestoring need to be only changed, without manually adjusting
Mechanical arm is highly.In this case it is necessary to insert the centre directly over an original position in the motion path of mechanical arm
Point.Specifically, the corresponding first safe altitude position of the original position can be calculated；Wherein, the first safe altitude position
It is position directly over the original position, and with the vertical height of the original position more than or equal to default height value to put
Put；According to the original position, the first safe altitude position, the first mid-point position, the second mid-point position and target location
Generate the motion path of mechanical arm.In this case it is also possible to according to the first safe altitude position and the barrier
The radius of safety of distributed computer tool arm motion.Now, the maximum R of the radius of safetymaxCan be calculated according in the following manner：
Wherein, h is the height of safe Z axis, and l is the ultimate range of barrier and mechanical arm base central point.
Assuming that mechanical arm is raised in original position, as described above, then being also needed to machinery in target location
Arm drops to former height, at this point it is possible to insert an intermediate point in the surface of the target location of manipulator motion.Specifically,
The corresponding second safe altitude position in the target location can be calculated；Wherein, the second safe altitude position is described
Directly over target location, and it is more than or equal to the position of the default height value with the vertical height of the target location；Root
According to the original position, the first safe altitude position, the first mid-point position, the second safe altitude position, the second point midway
Put the motion path that mechanical arm is generated with target location.
After the motion path of generation mechanical arm, can be moved according to the motion path control machinery arm, make machinery
Arm moves to the aiming spot along the motion path from the initial point position automatically.When distribution of obstacles changes
When, only need to reacquire distribution of obstacles, you can the automatic motion path for cooking up mechanical arm again.When mechanical arm is changed,
Only need in systems re-enter the mechanical parameter (such as size of instrument pawl) of mechanical arm, you can cook up mechanical arm again automatically
Motion path.Without artificial teaching, simple to operate, efficiency high.
The actual motion path of mechanical arm is as shown in Figure 6 and Figure 7.Fig. 6 is not added on vertical direction for one embodiment
Intermediate point when path schematic diagram, Fig. 7 for one embodiment add vertical direction on intermediate point when path schematic diagram.
Dotted line represents the motion path of mechanical arm in figure.
The present invention has advantages below：
(1) it is simple to operate quick, it is not necessary to manual teaching.
(2) intermediate point that intelligence insertion needs, operational efficiency is higher.
(3) automatic management Z axis planning, caller only needs to be input into starting point and endpoint information.
(4) whether intelligent decision needs to change right-hand man's attitude, and operational efficiency is higher.
(5) various disorders thing layout is adapted to, only needs to be used immediately by updating environmental information after environmental change.
As shown in figure 8, the present invention provides a kind of manipulator motion path generating system, it may include：
First computing module 10, the distributing position for obtaining the barrier around mechanical arm, according to the distributing position
The radius of safety of calculating machine arm motion, the reality of the Size calculation machinery arm according to the radius of safety and the instrument pawl of mechanical arm
The border radius of clean-up；
In one embodiment, the coordinate system of mechanical arm and distribution of obstacles can be set up, it is preferable that the coordinate system is
Three-dimensional system of coordinate.The central point of mechanical arm base can be set to origin by the three-dimensional system of coordinate, by two on horizontal plane mutually
Vertical direction is set to x-axis and y-axis, and vertical direction is set into z-axis.By setting up coordinate system, can more easily to machinery
Arm position and distribution of obstacles are described.Under the three-dimensional system of coordinate, the distributing position of the barrier can use coordinate
Form show, for example, a coordinate set can be set up, multiple coordinate values can be included in the coordinate set, each
Coordinate value represents a position distribution for barrier, and the coordinate value is represented by the form of (x, y, z).For the ease of distinguishing each
, can also be numbered for each barrier, and the coordinate value of barrier and reference numeral are bound by barrier.
The radius of safety is as shown in Figure 4 with real work radius.In figure, RmaxAnd RminRepresent radius of safety most respectively
Big value and minimum value, WRmaxAnd WRminThe maximum and minimum value of real work radius are represented respectively.The radius of safety is most
Big value can be calculated according to distribution of obstacles, and barrier and machine around mechanical arm can be obtained according to the distributing position of barrier
The distance between central point of tool arm base, the radius of safety of the minimum value calculating machine arm motion according to the distance.One
In individual embodiment, can be by the minimum value r of the distanceminThe maximum of the radius of safety is set to, in another embodiment
In, it is also possible to it is less than r by oneminNumerical value be set to the maximum of the radius of safety.The minimum value of the radius of safety can be with
Size according to mechanical arm base is calculated.In one embodiment, can be by the mechanical arm base each point and mechanical arm bottom
The maximum r of the distance of seat central pointmaxThe minimum value of the radius of safety is set to, in another embodiment, it is also possible to by one
It is individual more than rmaxNumerical value be set to the minimum value of the radius of safety.Because the instrument pawl of mechanical arm has certain size, therefore, machine
The real work radius of tool arm can be calculated according in the following manner：
WRmax=Rmax-d；
WRmin=Rmin+d；
Wherein, d is the size of the instrument pawl of the mechanical arm.
Second computing module 20, for the original position according to the instrument pawl and real work radius calculation machinery
First mid-point position of arm motion, target location and the real work radius calculation mechanical arm fortune according to the instrument pawl
The second dynamic mid-point position；
In one embodiment, during the first mid-point position of calculating machine arm motion, first straight line and institute can be obtained
State the first intersection point of the corresponding border circular areas of real work radius；Wherein, the first straight line be the original position with it is described
The straight line that the central point of the base of mechanical arm is linked to be；Position where one of them first intersection point is set to the point midway
Put.Preferably, first intersection point can be the intersection point of first straight line circle corresponding with the real work radius, such as scheme
Shown in 5.In Figure 5, A ' is the intersection point, namely the intermediate point.During the second mid-point position of calculating machine arm motion, can
To obtain the second intersection point of second straight line border circular areas corresponding with the real work radius；Wherein, the second straight line is
The straight line that the target location is linked to be with the central point of the base of the mechanical arm；By the position where one of them second intersection point
It is the mid-point position to install.Preferably, second intersection point can be the second straight line and the real work radius
The intersection point of corresponding circle, as shown in Figure 5.In Figure 5, B ' is the intersection point, namely the intermediate point.If establishing three-dimensional seat
Mark system, can obtain the coordinate of first intermediate point and the second intermediate point in the three-dimensional system of coordinate, and preserve.
In one embodiment, the limitation due to mechanical arm mechanical parameter in itself to mechanical arm, if mechanical arm keeps
Current pose possibly cannot move to target location, now, during mechanical arm moves to target location from original position
Need to change right-hand man's attitude.Mechanical arm change right-hand man's attitude when, it is necessary to whole mechanical arm is stretched completely, it is necessary to space
Maximum, hand-off point treatment is bad to collide.Therefore, in addition to first mid-point position and the second mid-point position,
May also need to set hand-off position in the motion path of mechanical arm.The hand-off position can be arranged on hand-off region
Interior, hand-off region is area of the distance between the central point of barrier and mechanical arm base more than the maximum length of the mechanical arm
Domain.That is, an acquisition module can be set, if the target location of the instrument pawl is not in the range of movement of the mechanical arm current pose
Interior, the acquisition module can be chosen to a little less as hand-off point in hand-off region, obtain hand-off position；Wherein, it is described to change
Hand region is region of the distance between the central point of barrier and mechanical arm base more than the maximum length of the mechanical arm.Institute
Length when stating maximum length i.e. mechanical arm being stretched completely.Hand-off region is as shown in Figure 5.Wherein, judging that mechanical arm holding ought
When whether preceding attitude can reach target location, the mechanical parameter of mechanical arm is can read, and according to the mechanical parameter computer
The region that tool arm current pose can be reached, if target location is not in the region, judgement needs switching right and left hand attitude.
First generation module 30, if for the instrument pawl target location the mechanical arm current pose motion model
In enclosing, the motion of mechanical arm is generated according to the original position, the first mid-point position, the second mid-point position and target location
Path.
Assuming that the target location of the instrument pawl need not switch in the range of movement of the mechanical arm current pose
Right-hand man's attitude, directly can generate according to the original position, the first mid-point position, the second mid-point position and target location
The motion path of mechanical arm.Assuming that the target location of the instrument pawl is not in the range of movement of the mechanical arm current pose,
Need switching right and left hand attitude, can be set the second generation module, for according to the original position, the first mid-point position and
The hand-off position that second computing module 20 is calculated generates the motion path of mechanical arm current pose, and according to the hand-off point
Motion path after position, the second mid-point position and target location generation mechanical arm switching attitude.
In practical situations both, due to mechanical arm special construction, need that Z axis are first promoted to the position of safe Z axis in starting point
Put, terminal Z axis position is down to by safe Z axis again in terminal, all intermediate points run all on safe Z axis, that is, walk one
" door " font trajectory.The position of safe Z axis can prestore, and in general, the position of safe Z axis is without often becoming
It is dynamic.When needing to change the hoisting depth of mechanical arm, the position of the safe Z axis for prestoring need to be only changed, without manually adjusting
Mechanical arm is highly.In this case it is necessary to insert the centre directly over an original position in the motion path of mechanical arm
Point.Specifically, the corresponding first safe altitude position of the original position can be calculated；Wherein, the first safe altitude position
It is position directly over the original position, and with the vertical height of the original position more than or equal to default height value to put
Put；According to the original position, the first safe altitude position, the first mid-point position, the second mid-point position and target location
Generate the motion path of mechanical arm.In this case it is also possible to according to the first safe altitude position and the barrier
The radius of safety of distributed computer tool arm motion.Now, the maximum R of the radius of safetymaxCan be calculated according in the following manner：
Wherein, h is the height of safe Z axis, and l is the ultimate range of barrier and mechanical arm base central point.
Assuming that mechanical arm is raised in original position, as described above, then being also needed to machinery in target location
Arm drops to former height, at this point it is possible to insert an intermediate point in the surface of the target location of manipulator motion.Specifically,
The corresponding second safe altitude position in the target location can be calculated；Wherein, the second safe altitude position is described
Directly over target location, and it is more than or equal to the position of the default height value with the vertical height of the target location；Root
According to the original position, the first safe altitude position, the first mid-point position, the second safe altitude position, the second point midway
Put the motion path that mechanical arm is generated with target location.
After the motion path of generation mechanical arm, can be moved according to the motion path control machinery arm, make machinery
Arm moves to the aiming spot along the motion path from the initial point position automatically.When distribution of obstacles changes
When, only need to reacquire distribution of obstacles, you can the automatic motion path for cooking up mechanical arm again.When mechanical arm is changed,
Only need in systems re-enter the mechanical parameter (such as size of instrument pawl) of mechanical arm, you can cook up mechanical arm again automatically
Motion path.Without artificial teaching, simple to operate, efficiency high.
The actual motion path of mechanical arm is as shown in Figure 6 and Figure 7.Fig. 6 is not added on vertical direction for one embodiment
Intermediate point when path schematic diagram, Fig. 7 for one embodiment add vertical direction on intermediate point when path schematic diagram.
Dotted line represents the motion path of mechanical arm in figure.
The present invention has advantages below：
(1) it is simple to operate quick, it is not necessary to manual teaching.
(2) intermediate point that intelligence insertion needs, operational efficiency is higher.
(3) automatic management Z axis planning, caller only needs to be input into starting point and endpoint information.
(4) whether intelligent decision needs to change right-hand man's attitude, and operational efficiency is higher.
(5) various disorders thing layout is adapted to, only needs to be used immediately by updating environmental information after environmental change.
A pair of manipulator motion path generating system of the invention and manipulator motion path generating method one of the invention
Should, the technical characteristic and its advantage illustrated in the embodiment of above-mentioned manipulator motion path generating method are applied to machinery
In the embodiment of arm motion path generation system, hereby give notice that.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
One of ordinary skill in the art will appreciate that all or part of step in realizing above-described embodiment method can be
The hardware of correlation is instructed to complete by program.Described program can be stored in a computer read/write memory medium.
The program upon execution, including the step described in the above method.Described storage medium, including：ROM/RAM, magnetic disc, CD
Deng.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of manipulator motion path generating method, it is characterised in that comprise the following steps：
The distributing position of the barrier around mechanical arm is obtained, according to the safety half that the distributing position calculating machine arm is moved
Footpath, the real work radius of the Size calculation machinery arm according to the radius of safety and the instrument pawl of mechanical arm；
First mid-point position of original position and the real work radius calculation manipulator motion according to the instrument pawl,
Second mid-point position of target location and the real work radius calculation manipulator motion according to the instrument pawl；
If the target location of the instrument pawl is in the range of movement of the mechanical arm current pose, according to the original position,
First mid-point position, the second mid-point position and target location generate the motion path of mechanical arm.
2. manipulator motion path generating method according to claim 1, it is characterised in that further comprising the steps of：
If the target location of the instrument pawl is not in the range of movement of the mechanical arm current pose, chosen in hand-off region
To a little less as hand-off point, hand-off position is obtained；Wherein, the hand-off region is the center of barrier and mechanical arm base
Region of the distance between the point more than the maximum length of the mechanical arm；
According to the original position, the first mid-point position and the hand-off motion path of position generation mechanical arm current pose,
And the motion path after mechanical arm switching attitude is generated according to the hand-off position, the second mid-point position and target location.
3. manipulator motion path generating method according to claim 1, it is characterised in that according to the original position,
The step of first mid-point position, the second mid-point position and target location generate the motion path of mechanical arm includes：
Calculate the corresponding first safe altitude position of the original position；Wherein, the first safe altitude position is described
Directly over original position, and it is more than or equal to the position of default height value with the vertical height of the original position；
According to the original position, the first safe altitude position, the first mid-point position, the second mid-point position and target location
Generate the motion path of mechanical arm.
4. manipulator motion path generating method according to claim 3, it is characterised in that according to the distribution of obstacles
The step of radius of safety of calculating machine arm motion, includes：
According to the radius of safety that the first safe altitude position and the distribution of obstacles calculating machine arm are moved.
5. manipulator motion path generating method according to claim 3, it is characterised in that according to the original position,
First safe altitude position, the first mid-point position, the second mid-point position and target location generate the motion path of mechanical arm
The step of also include：
Calculate the corresponding second safe altitude position in the target location；Wherein, the second safe altitude position is described
Directly over target location, and it is more than or equal to the position of the default height value with the vertical height of the target location；
According in the original position, the first safe altitude position, the first mid-point position, the second safe altitude position, second
Between put the motion path that position and target location generate mechanical arm.
6. manipulator motion path generating method according to claim 1, it is characterised in that according to the distributing position meter
The step of radius of safety for calculating manipulator motion, includes：
The distance between central point of barrier and mechanical arm base around acquisition mechanical arm；
The radius of safety of the minimum value calculating machine arm motion according to the distance.
7. the manipulator motion path generating method according to claim 1 to 6 any one, it is characterised in that in basis
After the motion path of the original position, the first mid-point position, the second mid-point position and target location generation mechanical arm,
It is further comprising the steps of：
Moved according to the motion path control machinery arm, mechanical arm is transported from the initial point position along the motion path
Move the aiming spot.
8. the manipulator motion path generating method according to claim 1 to 6 any one, it is characterised in that according to institute
State instrument pawl original position and the real work radius calculation manipulator motion the first mid-point position the step of include：
Obtain the first intersection point of first straight line border circular areas corresponding with the real work radius；Wherein, the first straight line
It is straight line that the original position is linked to be with the central point of the base of the mechanical arm；
Position where one of them first intersection point is set to the mid-point position；
Second mid-point position of target location and the real work radius calculation manipulator motion according to the instrument pawl
The step of include：
Obtain the second intersection point of second straight line border circular areas corresponding with the real work radius；Wherein, the second straight line
It is straight line that the target location is linked to be with the central point of the base of the mechanical arm；
Position where one of them second intersection point is set to the mid-point position.
9. a kind of manipulator motion path generating system, it is characterised in that including：
First computing module, the distributing position for obtaining the barrier around mechanical arm, according to the distributing position computer
The radius of safety of tool arm motion, the real work of the Size calculation machinery arm according to the radius of safety and the instrument pawl of mechanical arm
Radius；
Second computing module, for the original position according to the instrument pawl and the real work radius calculation manipulator motion
The first mid-point position, of target location and the real work radius calculation manipulator motion according to the instrument pawl
Two mid-point positions；
First generation module, if for the instrument pawl target location in the range of movement of the mechanical arm current pose,
The motion path of mechanical arm is generated according to the original position, the first mid-point position, the second mid-point position and target location.
10. manipulator motion path generating system according to claim 9, it is characterised in that also include：
Acquisition module, if for the instrument pawl target location not in the range of movement of the mechanical arm current pose,
Chosen in hand-off region to a little less as hand-off point, obtain hand-off position；Wherein, the hand-off region is barrier and machine
Region of the distance between the central point of tool arm base more than the maximum length of the mechanical arm；
Second generation module, for being worked as according to the original position, the first mid-point position and hand-off position generation mechanical arm
The motion path of preceding attitude, and mechanical arm switching is generated according to the hand-off position, the second mid-point position and target location
Motion path after attitude.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710121022.7A CN106695800B (en) | 2017-03-02 | 2017-03-02 | Mechanical arm motion path generation method and system |
| PCT/CN2017/103590 WO2018157592A1 (en) | 2017-03-02 | 2017-09-27 | Method and system for generating motion path of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710121022.7A CN106695800B (en) | 2017-03-02 | 2017-03-02 | Mechanical arm motion path generation method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106695800A true CN106695800A (en) | 2017-05-24 |
| CN106695800B CN106695800B (en) | 2019-06-11 |
Family
ID=58912031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710121022.7A Active CN106695800B (en) | 2017-03-02 | 2017-03-02 | Mechanical arm motion path generation method and system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106695800B (en) |
| WO (1) | WO2018157592A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107457781A (en) * | 2017-07-12 | 2017-12-12 | 国机智能技术研究院有限公司 | A kind of method and system of control machine people motion |
| WO2018157592A1 (en) * | 2017-03-02 | 2018-09-07 | 广州视源电子科技股份有限公司 | Method and system for generating motion path of mechanical arm |
| CN110794849A (en) * | 2019-11-28 | 2020-02-14 | 广州视源电子科技股份有限公司 | Path processing method and device, robot, computer equipment and storage medium |
| CN111331600A (en) * | 2020-03-10 | 2020-06-26 | 库卡机器人制造（上海）有限公司 | Track adjusting method and related equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5347459A (en) * | 1993-03-17 | 1994-09-13 | National Research Council Of Canada | Real time collision detection |
| JPH11106044A (en) * | 1997-10-08 | 1999-04-20 | Mitsubishi Electric Corp | Substrate carrier device and substrate carrying method |
| JP2008178946A (en) * | 2007-01-25 | 2008-08-07 | Ulvac Japan Ltd | Carrying robot, and vacuum device |
| CN104029203A (en) * | 2014-06-18 | 2014-09-10 | 大连大学 | Path planning method for implementation of obstacle avoidance for space manipulators |
| CN106003027A (en) * | 2016-06-03 | 2016-10-12 | 广州视源电子科技股份有限公司 | Method and system for setting motion path of mechanical arm |
| CN106003043A (en) * | 2016-06-20 | 2016-10-12 | 先驱智能机械（深圳）有限公司 | Obstacle avoidance method and obstacle avoidance system of mechanical arm |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10319253B4 (en) * | 2003-04-28 | 2005-05-19 | Tropf, Hermann | Three-dimensionally accurate feeding with robots |
| CN102773858B (en) * | 2012-07-17 | 2015-06-03 | 北京航空航天大学 | Obstacle avoidance method of robot palletizer |
| CN102785244A (en) * | 2012-07-20 | 2012-11-21 | 浙江工业大学 | Space circular arc planning control method for multi-axial servo manipulator |
| CN106695800B (en) * | 2017-03-02 | 2019-06-11 | 广州视源电子科技股份有限公司 | Mechanical arm motion path generation method and system |
-
2017
- 2017-03-02 CN CN201710121022.7A patent/CN106695800B/en active Active
- 2017-09-27 WO PCT/CN2017/103590 patent/WO2018157592A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5347459A (en) * | 1993-03-17 | 1994-09-13 | National Research Council Of Canada | Real time collision detection |
| JPH11106044A (en) * | 1997-10-08 | 1999-04-20 | Mitsubishi Electric Corp | Substrate carrier device and substrate carrying method |
| JP2008178946A (en) * | 2007-01-25 | 2008-08-07 | Ulvac Japan Ltd | Carrying robot, and vacuum device |
| CN104029203A (en) * | 2014-06-18 | 2014-09-10 | 大连大学 | Path planning method for implementation of obstacle avoidance for space manipulators |
| CN106003027A (en) * | 2016-06-03 | 2016-10-12 | 广州视源电子科技股份有限公司 | Method and system for setting motion path of mechanical arm |
| CN106003043A (en) * | 2016-06-20 | 2016-10-12 | 先驱智能机械（深圳）有限公司 | Obstacle avoidance method and obstacle avoidance system of mechanical arm |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018157592A1 (en) * | 2017-03-02 | 2018-09-07 | 广州视源电子科技股份有限公司 | Method and system for generating motion path of mechanical arm |
| CN107457781A (en) * | 2017-07-12 | 2017-12-12 | 国机智能技术研究院有限公司 | A kind of method and system of control machine people motion |
| CN110794849A (en) * | 2019-11-28 | 2020-02-14 | 广州视源电子科技股份有限公司 | Path processing method and device, robot, computer equipment and storage medium |
| CN111331600A (en) * | 2020-03-10 | 2020-06-26 | 库卡机器人制造（上海）有限公司 | Track adjusting method and related equipment |
| CN111331600B (en) * | 2020-03-10 | 2021-04-30 | 库卡机器人制造（上海）有限公司 | Track adjusting method and related equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106695800B (en) | 2019-06-11 |
| WO2018157592A1 (en) | 2018-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106695800A (en) | Mechanical arm motion path generation method and system | |
| CN105676642B (en) | A kind of six-DOF robot station layout and run duration cooperative optimization method | |
| CN103809463B (en) | Taught point for simulator robot instructs system of selection | |
| CN103885443A (en) | Device, system and method for simultaneous localization and mapping unit | |
| CN106527438A (en) | Robot navigation control method and device | |
| CN108459599A (en) | A kind of trajectory path planning method and device | |
| KR100310617B1 (en) | Method of producing motion planning for troweling robot | |
| CN113211447B (en) | Mechanical arm real-time perception planning method and system based on bidirectional RRT algorithm | |
| Zhu et al. | A* algorithm of global path planning based on the grid map and V-graph environmental model for the mobile robot | |
| CN108534789A (en) | A kind of multipath elements of a fix unified approach, electronic equipment and readable storage medium storing program for executing | |
| CN115752474A (en) | Robot navigation planning method and device under non-flat ground environment and robot | |
| CN110442138A (en) | A kind of control of robot cluster and barrier-avoiding method | |
| CN113838203B (en) | Navigation system based on three-dimensional point cloud map and two-dimensional grid map and application method | |
| JP2003280710A (en) | Generation and control method of working track of robot hand | |
| JPWO2020066949A1 (en) | Robot routing device, robot routing method, program | |
| Korves et al. | The application of immersive virtual reality for layout planning of manufacturing cells | |
| CN107066654A (en) | Towards the TRAJECTORY CONTROL dot picking method and apparatus in the enveloped box face of point cloud model | |
| CN108151742B (en) | Navigation control method and intelligent device for robot | |
| Lee et al. | A fast path planning-and-tracking control for wheeled mobile robots | |
| Lv et al. | A deep safe reinforcement learning approach for mapless navigation | |
| CN116009552A (en) | Path planning method, device, equipment and storage medium | |
| CN103763711B (en) | Towards the wireless sensor network region overlay two-stage mapping method of three-dimensional scenic | |
| Chen et al. | Multi-risk Aware Trajectory Planning for Car-like Robot in Highly Dynamic Environments | |
| CN108415362B (en) | A kind of generation method of multiaxis dynamic matrix moulding | |
| Yani et al. | Investigation of Obstacle Prediction Network for Improving Home-Care Robot Navigation Performance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 510530 No. 6 Yunpu Fourth Road, Huangpu District, Guangzhou City, Guangdong Province Patentee after: Guangzhou Shiyuan Electronic Technology Company Limited Patentee after: Guangzhou leichen Intelligent Technology Co.,Ltd. Address before: 510530 No. 6 Yunpu Fourth Road, Huangpu District, Guangzhou City, Guangdong Province Patentee before: Guangzhou Shiyuan Electronic Technology Company Limited Patentee before: GUANGZHOU LEICHEN TECHNOLOGY Co.,Ltd. Address after: 510530 No. 6 Yunpu Fourth Road, Huangpu District, Guangzhou City, Guangdong Province Patentee after: Guangzhou Shiyuan Electronic Technology Company Limited Patentee after: GUANGZHOU LEICHEN TECHNOLOGY Co.,Ltd. Address before: 510530 No. 6 Yunpu Fourth Road, Huangpu District, Guangzhou City, Guangdong Province Patentee before: Guangzhou Shiyuan Electronic Technology Company Limited Patentee before: GUANGZHOU LEICHEN AUTOMATIC CONTROL TECHNOLOGY CO.,LTD. |