CN113478492B - Method and system for avoiding collision of mechanical arms, robot and storage medium - Google Patents
Method and system for avoiding collision of mechanical arms, robot and storage medium Download PDFInfo
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- CN113478492B CN113478492B CN202111041077.XA CN202111041077A CN113478492B CN 113478492 B CN113478492 B CN 113478492B CN 202111041077 A CN202111041077 A CN 202111041077A CN 113478492 B CN113478492 B CN 113478492B
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- 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
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a method and a system for avoiding mechanical arm collision, a robot and a storage medium, wherein the method for avoiding the mechanical arm collision comprises the following steps: acquiring a control instruction for controlling the motion of the mechanical arm; controlling a mechanical arm model corresponding to the mechanical arm to move in a three-dimensional space according to the control instruction; judging whether the mechanical arm model collides when moving in a three-dimensional space; if yes, sending an early warning signal; if not, controlling the mechanical arm to move according to the control command. The method and the device can judge whether the mechanical arm model collides in the motion process or not by simulating the motion of the mechanical arm model in the three-dimensional space, and perform early warning or control the motion of the mechanical arm according to the judgment result, so that the mechanical arm model is prevented from colliding in the motion process.
Description
Technical Field
The invention relates to the field of automatic control of mechanical arms, in particular to a method and a system for avoiding collision of mechanical arms, a robot and a storage medium.
Background
In the prior art, the motion of the mechanical equipment is often controlled by inputting an operation signal by a user, when a mechanical arm of the robot is in use, an operator generally inputs the operation signal and then controls the mechanical arm to move, but when the operator does not operate properly, the problem of collision between the mechanical arms may occur, which causes damage to the appliance and affects the mechanical arm to complete preset work.
Therefore, how to predict the motion process of the mechanical arm and judge whether the mechanical arm collides in the motion process becomes a technical problem which needs to be solved by the technical personnel in the field at present.
Disclosure of Invention
The invention aims to provide a method, a system, a robot and a storage medium for avoiding collision of a mechanical arm, which can simulate a motion path of the mechanical arm before the mechanical arm moves according to a control instruction, and judge and avoid collision.
In order to achieve the above object, the present invention provides a method for avoiding collision of a robot arm, comprising:
acquiring a control instruction for controlling the motion of the mechanical arm;
controlling a mechanical arm model corresponding to the mechanical arm to move in a three-dimensional space according to the control instruction;
judging whether the mechanical arm model collides when moving in a three-dimensional space;
if yes, sending an early warning signal;
if not, controlling the mechanical arm to move according to the control command.
Optionally, controlling a robot arm model corresponding to the robot arm to move in a three-dimensional space according to the control instruction, including:
calculating the target position coordinates of the mechanical arm according to the control instruction;
converting the target position coordinates into virtual target coordinates in a three-dimensional space; the three-dimensional space comprises a mechanical arm model corresponding to the mechanical arm;
and controlling the mechanical arm model to move in a three-dimensional space according to the virtual target coordinates.
Optionally, controlling the robot arm model to move in the three-dimensional space according to the virtual target coordinates includes:
performing inverse kinematics calculation on the virtual target coordinate according to the current position of the mechanical arm model to obtain a moving path for transforming the current position of the mechanical arm model to the virtual target coordinate;
and controlling the mechanical arm model to move according to the moving path.
Optionally, the determining whether the robot arm model collides when moving in the three-dimensional space includes:
when the mechanical arm models move in the three-dimensional space, judging whether the mechanical arm models collide with each other, whether the mechanical arm models collide with the bed body model or not, and whether the mechanical arm models collide with the operated object model or not;
wherein, three-dimensional space includes: the three-dimensional space simulation system comprises a bed body model, an operated object model and a plurality of mechanical arm models, wherein the bed body model is arranged on one side of the mechanical arm models, the operated object model is arranged on the bed body model, and the virtual position relationship of the bed body model, the operated object model and the mechanical arm models in a three-dimensional space is equal to the actual position relationship of the bed body model, the operated object model and the mechanical arm models.
Optionally, judging whether the mechanical arm model collides when moving in the three-dimensional space; if yes, sending an early warning signal, and further comprising:
and controlling the mechanical arm to slow down in the process of controlling the mechanical arm to move according to the control instruction.
Optionally, judging whether the mechanical arm model collides when moving in the three-dimensional space; if not, controlling the mechanical arm to move according to the control command, and further comprising:
acquiring motion parameters of the mechanical arm in real time;
controlling the mechanical arm model to move synchronously with the mechanical arm according to the motion parameters;
and displaying the motion state of the mechanical arm model in a three-dimensional space.
Optionally, after controlling the robot arm model according to the motion parameters and synchronizing with the motion of the robot arm, the method further includes:
calculating to obtain a virtual target coordinate of the mechanical arm model in a three-dimensional space according to the control instruction;
and displaying the virtual target coordinates in the three-dimensional space.
The present invention also provides a system for avoiding collision of a robot arm, comprising:
a control instruction acquisition unit: the control command is used for acquiring a control command for controlling the motion of the mechanical arm;
a model motion control unit: the system is used for controlling the mechanical arm model corresponding to the mechanical arm to move in a three-dimensional space according to the control instruction;
a model collision early warning unit: the system is used for judging whether the mechanical arm model collides when moving in a three-dimensional space;
the early warning signal sending unit: the early warning unit is used for sending an early warning signal when the model collision early warning unit judges that collision occurs;
a robot arm motion control unit: and the controller is used for controlling the mechanical arm to move according to the control command when the model collision early warning unit judges that no collision occurs.
The invention also provides a robot, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor realizes the steps of the method for avoiding the collision of the mechanical arm when calling the computer program in the memory.
The invention also provides a storage medium, wherein the storage medium stores computer-executable instructions, and the computer-executable instructions are loaded by the processor and executed to realize the steps of the method for avoiding the collision of the mechanical arm.
Compared with the background technology, the invention provides a method for avoiding collision of mechanical arms, which comprises the following steps:
acquiring a control instruction for controlling the motion of the mechanical arm; controlling a mechanical arm model corresponding to the mechanical arm to move in a three-dimensional space according to the control instruction; judging whether the mechanical arm model collides when moving in a three-dimensional space; if yes, sending an early warning signal; if not, controlling the mechanical arm to move according to the control command.
Therefore, in practical application, by adopting the scheme of the invention, the control instruction of the mechanical arm is firstly obtained, and then the model of the mechanical arm correspondingly moves in a preset three-dimensional space according to the control instruction; judging whether the mechanical arm model moving in the three-dimensional space collides or not; if so, sending an early warning signal, if not, controlling the motion of the mechanical arm according to the control instruction, judging whether the moving path of the mechanical arm is collided or not through simulation, and then moving the mechanical arm, so that the occurrence of accidental collision is avoided.
The invention also provides a system for avoiding the collision of the mechanical arms, a robot and a storage medium, and has the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flowchart of a method for avoiding robot arm collision according to an embodiment of the present invention;
fig. 2 is a block diagram of a system for avoiding collision of a robot arm according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
According to the method for avoiding the collision of the mechanical arm, the mechanical arm model is controlled to move in the three-dimensional space so as to simulate the real mechanical arm movement state, and therefore whether the real mechanical arm collides in the movement process can be effectively judged.
Referring to fig. 1 of the specification, fig. 1 is a flowchart of a method for avoiding collision of a robot arm according to an embodiment of the present invention, including:
step 1: acquiring a control instruction for controlling the motion of the mechanical arm;
the embodiment can be applied to the mechanical arm of the robot, and in order to ensure the accuracy of operation, a user needs to input accurate data and adjust the posture when controlling the mechanical arm, set a specific position and direction and acquire the control instruction. Wherein, the control command can control the mechanical arm to move.
Step 2: controlling a mechanical arm model corresponding to the mechanical arm to move in a three-dimensional space according to the control instruction;
and (3) arranging a mechanical arm model corresponding to the mechanical arm in the three-dimensional space, and controlling the mechanical arm model in the three-dimensional space to move according to the control instruction obtained in the step (1). The three-dimensional space can be established through software such as 3D MAX and Solidworks in the prior art, a mechanical arm model, a bed body model and an operated object model are established in the software, and obviously, the establishment of the mechanical arm model, the bed body model and the operated object model should refer to the structures and the sizes of a real mechanical arm, a real bed body and a real robot.
Meanwhile, in step 2, the initial position of the mechanical arm corresponds to the initial position of the mechanical arm model in the three-dimensional space, so that the condition of the mechanical arm in the motion process can be effectively simulated through the three-dimensional space.
And step 3: judging whether the mechanical arm model collides when moving in a three-dimensional space;
if yes, sending an early warning signal;
if not, controlling the mechanical arm to move according to the control command.
Pre-judging whether the mechanical arm collides or not according to the motion of the mechanical arm model in the three-dimensional space in the step 2; if the mechanical arm model collides in the motion process, sending an early warning signal and simultaneously controlling the mechanical arm to slow down the motion; and if the collision of the mechanical arm model in the motion process is not detected, controlling the mechanical arm to move according to the control instruction.
In a whole, the model of the mechanical arm in the three-dimensional space is used for simulating movement, whether collision occurs in the movement process can be predicted, if collision is detected, the movement of the mechanical arm is stopped or the movement speed of the mechanical arm is slowed down, and if collision is not detected, the mechanical arm is controlled to move according to an original movement path, so that the collision accident of the mechanical arm entity is avoided, and the intelligence and the safety of the whole system are improved.
In an embodiment, regarding step 3, determining whether the robot arm model collides when moving in the three-dimensional space may specifically be:
judging whether the mechanical arm model collides with the bed body model when moving in a three-dimensional space; in the three-dimensional modeling process, the position relation and the specific structure of the mechanical arm model and the bed body model should refer to the arrangement mode of the mechanical arm and the bed body in the real environment.
Under a real environment, the bed body is positioned at one side of the mechanical arm, the position relation of the mechanical arm and the bed body under the real environment can be obtained through physical measurement, optical measurement and the like, and the indoor structural environment where the mechanical arm and the bed body are positioned can also be drawn into three-dimensional software; the base of the mechanical arm is selected as the origin of coordinates of the reference coordinates, the distance measuring radar is installed on the bed body, and the linear distance between the installation point on the bed body and the origin of coordinates is measured through the distance measuring radar.
Because the origin of coordinates in the 3D model is marked according to the proportion of the mechanical arm and the bed body in the 3D model, and the installation position of the distance measuring radar is already marked, the position relation of each device in the operating room relative to the origin of coordinates of the reference can be determined according to the relation, so that the position calibration of all virtual scenes and real scenes is realized, and the bed body model is positioned on one side of the mechanical arm model.
Of course, except the situation that the mechanical arm collides with the bed body, the collision-proof bed further comprises: the mechanical arm collides with the mechanical arm under the condition that the set motion angle is wrong, the mechanical arms collide with each other in the working process or collide with other additional equipment except the mechanical arms, and the like.
In addition, the method can also be used for judging whether the multiple mechanical arm models collide with the operated object model, namely, when the mechanical arm models move in a three-dimensional space, whether the multiple mechanical arm models collide with each other, whether the multiple mechanical arm models collide with the bed body model, and whether the multiple mechanical arm models collide with the operated object model can be judged;
wherein, three-dimensional space includes: the three-dimensional space simulation system comprises a bed body model, an operated object model and a plurality of mechanical arm models, wherein the bed body model is arranged on one side of the mechanical arm models, the operated object model is arranged on the bed body model, and the virtual position relationship of the bed body model, the operated object model and the mechanical arm models in a three-dimensional space is equal to the actual position relationship of the bed body model, the operated object model and the mechanical arm models.
In one embodiment, for step 2, controlling a robot arm model corresponding to the robot arm to move in a three-dimensional space according to the control command includes:
obtaining the target position coordinates of the mechanical arm according to the control instruction,
converting the target position coordinates into virtual coordinates of a three-dimensional space through conversion; the three-dimensional space comprises a mechanical arm model corresponding to the mechanical arm;
and controlling the mechanical arm model in the three-dimensional space to move from the current position to the virtual coordinate position according to the numerical value of the virtual coordinate.
As can be seen from the above, the target position coordinates of the real mechanical arm are firstly calculated according to the control instruction, that is, the position to which the real mechanical arm should move according to the control instruction is the target position coordinates.
The target position coordinates are then converted into virtual coordinates in three-dimensional space, which also means that the robot arm model in three-dimensional space should be moved from the current position to the virtual coordinates.
And finally, in a three-dimensional space, controlling the mechanical arm model to move to the virtual coordinate so as to observe the conditions encountered by the mechanical arm model in the movement process. Further, calculating a moving path according to the current position of the mechanical arm model and the virtual target coordinate comprises: and performing inverse kinematics calculation according to the current position and the virtual target coordinate (inverse kinematics is a process of determining parameters of a joint movable object to be set for achieving a required posture), obtaining a moving path of the manipulator model, and controlling the manipulator model to move according to the moving path.
Aiming at the situation that the mechanical arm comprises a plurality of joints, the mechanical arm model also comprises a plurality of joints, and after the initial position and the virtual coordinates of the mechanical arm model are determined, the motion angle of each joint in the mechanical arm model can be calculated, namely, the moving path is determined; and then controlling the mechanical arm model to move according to the moving path.
Of course, the moving path should also be the moving path executed by the real robot arm, so that the motion state of the robot arm can be simulated by using the robot arm model to move in the three-dimensional space.
In a specific embodiment, for the step 3, it is determined whether a collision occurs when the manipulator model moves in a three-dimensional space; if yes, sending an early warning signal, and further comprising:
when the mechanical arm in the three-dimensional space starts to simulate according to the control instruction, the mechanical arm has two modes of not starting to move and starting to move; if the mechanical arm model is predicted to collide in the moving process in the mode that the mechanical arm starts to move, the system gives out a warning through sound reminding and character display, and controls the mechanical arm to slow down the movement and give the user time for adjustment. When the mechanical arm is in a motion mode which is not started, the mechanical arm model predicts that collision will occur in the moving process, and the mechanical arm will not start to move.
Further, aiming at the step 3, judging whether the mechanical arm model collides when moving in a three-dimensional space; if not, controlling the mechanical arm to move according to the control command. The method can be specifically as follows:
if collision is not detected in the moving process of the mechanical arm model, the mechanical arm is controlled to move according to an original moving path, the state of the mechanical arm is monitored in real time, the motion parameters of the mechanical arm are obtained in real time, the mechanical arm model is controlled by the motion parameters to move synchronously with the mechanical arm, the motion state of the mechanical arm model is displayed in a three-dimensional space, and the reachable motion range of the mechanical arm model is marked in the three-dimensional space.
Furthermore, virtual target coordinates of the mechanical arm model in the three-dimensional space are obtained through calculation according to the control instruction and are displayed in the three-dimensional space, so that a user can visually observe the position relation and the movement route between the mechanical arm model and the virtual target coordinates. Therefore, in the motion process of the mechanical arm, the mechanical arm model moves in a three-dimensional space in real time along with the motion state of the mechanical arm, a user can observe the motion mode of the mechanical arm more clearly, and meanwhile, the virtual target coordinate is marked in the three-dimensional space, the current operation position of the mechanical arm can be displayed visually, so that the operation condition of the mechanical arm can be observed more favorably.
The embodiment of the present invention further provides a system applicable to the method for avoiding collision of a mechanical arm, wherein the method for setting and the working process refer to the method for avoiding collision of a mechanical arm, and a structural block diagram of the system for displaying the operation process is shown in fig. 2 of the specification, and includes:
control instruction acquisition unit 101: the control command is used for acquiring a control command for controlling the motion of the mechanical arm;
the model motion control unit 102: the system is used for controlling the mechanical arm model corresponding to the mechanical arm to move in a three-dimensional space according to the control instruction;
model collision determination unit 103: the system is used for judging whether the mechanical arm model collides when moving in a three-dimensional space;
the warning signal transmission unit 104: the early warning unit is used for sending an early warning signal when the model collision early warning unit judges that collision occurs;
the robot arm movement control unit 105: and when the model collision early warning unit judges that no collision occurs, the mechanical arm is controlled to move according to the control command.
Further, the model motion control unit 102 is further configured to:
calculating the target position coordinates of the mechanical arm according to the control instruction;
converting the target position coordinates into virtual target coordinates in a three-dimensional space; the three-dimensional space comprises a mechanical arm model corresponding to the mechanical arm;
and controlling the mechanical arm model to move in a three-dimensional space according to the virtual target coordinates.
Further, the model motion control unit 102 is further configured to:
performing inverse kinematics calculation on the virtual target coordinate according to the current position of the mechanical arm model to obtain a moving path from the mechanical arm model to the virtual target coordinate;
and controlling the mechanical arm model to move according to the moving path.
Further, the model collision warning unit 103 is further configured to: judging whether the mechanical arm model collides with the bed body model when moving in a three-dimensional space;
the bed model is arranged in a three-dimensional space and corresponds to the bed on one side of the mechanical arm, and the virtual position relationship of the mechanical arm model and the bed model in the three-dimensional space is equal to the actual position relationship of the mechanical arm model and the bed.
Further, the warning signal sending unit 104 is further configured to: and controlling the mechanical arm to slow down in the process of controlling the mechanical arm to move according to the control instruction.
Further, the robot arm motion control unit 105 is further configured to: acquiring motion parameters of the mechanical arm in real time;
controlling the mechanical arm model to move synchronously with the mechanical arm according to the motion parameters;
and displaying the motion state of the mechanical arm model in a three-dimensional space.
Further, the robot arm motion control unit 105 is further configured to: calculating to obtain a virtual target coordinate of the mechanical arm model in a three-dimensional space according to the control instruction;
and displaying the virtual target coordinates in the three-dimensional space.
The present application also provides a storage medium having a computer program stored thereon, which when executed, may implement the steps provided by the above-described embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The application also provides a robot, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor realizes the steps of the method for avoiding the collision of the mechanical arm when calling the computer program in the memory. Of course, the robot may also include various network interfaces, power supplies, etc.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The method, system, robot and storage medium for avoiding collision of the robot arm provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (7)
1. A method of avoiding a collision of a robotic arm, comprising:
acquiring a control instruction for controlling the motion of the mechanical arm;
controlling a mechanical arm model corresponding to the mechanical arm to move in a three-dimensional space according to the control instruction;
judging whether the mechanical arm model collides when moving in the three-dimensional space;
if yes, sending an early warning signal in a mode that the mechanical arm starts to move, and simultaneously controlling the mechanical arm to slow down the movement; when the mechanical arm is in the motion mode, the mechanical arm does not start to move;
if not, controlling the mechanical arm to move according to the control instruction;
controlling the mechanical arm model corresponding to the mechanical arm to move in a three-dimensional space according to the control instruction, wherein the method comprises the following steps:
calculating the target position coordinates of the mechanical arm according to the control instruction;
converting the target position coordinates into virtual target coordinates in a three-dimensional space; the three-dimensional space comprises a mechanical arm model corresponding to the mechanical arm;
controlling the mechanical arm model to move in the three-dimensional space according to the virtual target coordinate;
judging whether the mechanical arm model collides when moving in the three-dimensional space, including:
when the mechanical arm models move in the three-dimensional space, judging whether the mechanical arm models collide with each other, whether the mechanical arm models collide with the bed body model or not, and whether the mechanical arm models collide with the operated object model or not;
wherein, the three-dimensional space comprises: the three-dimensional space three-dimensional model comprises a bed body model, an operated object model and a plurality of mechanical arm models, wherein the bed body model is arranged on one side of the mechanical arm models, the operated object model is arranged on the bed body model, and the virtual position relationship among the bed body model, the operated object model and the mechanical arm models in the three-dimensional space is equal to the actual position relationship among the bed body model, the operated object model and the mechanical arm models.
2. The method for avoiding collision of a robot arm according to claim 1, wherein controlling the robot arm model to move in the three-dimensional space according to the virtual target coordinates comprises:
performing inverse kinematics calculation on the virtual target coordinate according to the current position of the mechanical arm model to obtain a moving path for transforming the current position of the mechanical arm model to the virtual target coordinate;
and controlling the mechanical arm model to move according to the moving path.
3. The method for avoiding collision of mechanical arms according to claim 1 or 2, wherein whether collision occurs when the mechanical arm model moves in the three-dimensional space is judged; if not, controlling the mechanical arm to move according to the control instruction, and further comprising:
acquiring motion parameters of the mechanical arm in real time;
controlling the mechanical arm model to be synchronous with the mechanical arm to move according to the motion parameters;
and displaying the motion state of the mechanical arm model in the three-dimensional space.
4. The method for avoiding collision of mechanical arms as claimed in claim 3, wherein the controlling the mechanical arm model according to the motion parameters synchronously with the mechanical arm motion further comprises:
calculating to obtain virtual target coordinates of the mechanical arm model in the three-dimensional space according to the control instruction;
displaying the virtual target coordinates in the three-dimensional space.
5. A collision avoidance system for a robot arm, which is applied to the collision avoidance method for a robot arm according to any one of claims 1 to 4, and which comprises:
a control instruction acquisition unit: the control command is used for acquiring a control command for controlling the motion of the mechanical arm;
a model motion control unit: the robot arm model is used for controlling the robot arm model corresponding to the robot arm to move in a three-dimensional space according to the control instruction;
a model collision early warning unit: the system is used for judging whether the mechanical arm model collides when moving in the three-dimensional space;
the early warning signal sending unit: the early warning unit is used for sending an early warning signal when the model collision early warning unit judges that collision occurs;
a robot arm motion control unit: and the model collision early warning unit is used for controlling the mechanical arm to move according to the control instruction when judging that no collision occurs.
6. A robot characterized by comprising a memory in which a computer program is stored and a processor which, when calling the computer program in the memory, carries out the steps of the method of avoiding manipulator collisions according to any of claims 1 to 4.
7. A storage medium having stored thereon computer-executable instructions which, when loaded and executed by a processor, carry out the steps of the method of avoiding manipulator arm collisions according to any one of claims 1 to 4.
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| CN111015656A (en) * | 2019-12-19 | 2020-04-17 | 佛山科学技术学院 | Control method and device for robot to actively avoid obstacle and storage medium |
| CN111168686A (en) * | 2020-02-25 | 2020-05-19 | 深圳市商汤科技有限公司 | Object grabbing method, device, equipment and storage medium |
| CN113246143A (en) * | 2021-06-25 | 2021-08-13 | 视比特(长沙)机器人科技有限公司 | Mechanical arm dynamic obstacle avoidance trajectory planning method and device |
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