CN115401682A - Mechanical arm motion planning method and system based on scene division - Google Patents
Mechanical arm motion planning method and system based on scene division Download PDFInfo
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Abstract
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm motion planning method and a mechanical arm motion planning system based on scene division.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm motion planning method and system based on scene division.
Background
When the mechanical arm is operated and controlled, particularly when the extraterrestrial celestial body sampling detection mechanical arm is operated and controlled, accessibility and safety are key problems which cannot be ignored, important consideration is needed in mechanical arm motion planning, and the result of the mechanical arm motion planning is fully verified. In practical application, because the configuration and the motion trajectory of the mechanical arm are complex, the motion planning process of the mechanical arm is very complex, and the calculation amount is large, so how to improve the efficiency of the motion planning of the mechanical arm is a technical problem to be solved urgently by the technical staff in the field.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a mechanical arm motion planning method and system based on scene division.
The technical scheme of the mechanical arm motion planning method based on scene division is as follows:
determining a first path from the starting position to each first target position according to the starting position, each first target position and each preset path point position, wherein at least one first path comprises at least one preset path point position;
respectively determining preset control parameters for controlling the tail end point of the mechanical arm from the initial position to each first target position according to each first path, and generating preset control parameter sets;
calculating the optimal preset path point position for reaching each second target position, determining a real-time control parameter for controlling a tail end point of the mechanical arm from the optimal preset path point position corresponding to any second target position, and generating a real-time control parameter set;
generating a mechanical arm motion strategy set according to the preset control parameter set and the real-time control parameter set, wherein the mechanical arm motion strategy set comprises: a control parameter for controlling the end point of the robot arm from the start position to each second target position;
and controlling the mechanical arm by utilizing the mechanical arm motion strategy set.
The mechanical arm motion planning method based on scene division has the following beneficial effects:
according to the starting position, each first target position and each preset path point position, a preset control parameter set is generated, when a user determines a second target position, only real-time control parameters for controlling a tail end point of the mechanical arm from an optimal preset path point position corresponding to any second target position to the second target position need to be calculated and determined, and the preset control parameter set is combined, so that a mechanical arm motion strategy set can be generated, repeated calculation amount can be greatly reduced, even if the user resets the specific position of each second target position, a new mechanical arm motion strategy set can be rapidly generated, mechanical arm planning efficiency is greatly improved, and flexibility is strong.
On the basis of the scheme, the mechanical arm motion planning method based on scene division can be further improved as follows.
Further, after the generating the preset control parameter set, the method further includes:
and verifying each preset control parameter in the preset control parameter set.
Further, after the generating the set of real-time control parameters, the method further includes:
and verifying each real-time control parameter set in the generated real-time control parameter set.
Further, the method also comprises the following steps:
and obtaining the position of a preset path point according to the initial position and each first target position.
The technical scheme of the mechanical arm motion planning system based on scene division is as follows:
the device comprises a determining module, a generating module and a control module;
the determination module is to: determining a first path from the starting position to each first target position according to the starting position, each first target position and each preset path point position, wherein at least one first path comprises at least one preset path point position;
the generation module is configured to:
respectively determining preset control parameters for controlling the tail end point of the mechanical arm from the initial position to each first target position according to each first path, and generating preset control parameter sets;
calculating the optimal preset path point position for reaching each second target position, determining real-time control parameters for controlling the tail end point of the mechanical arm from the optimal preset path point position corresponding to any second target position, and generating a real-time control parameter set;
generating a mechanical arm motion strategy set according to the preset control parameter set and the real-time control parameter set, wherein the mechanical arm motion strategy set comprises: a control parameter for controlling the end point of the robot arm from the start position to each second target position;
the control module is used for: and controlling the mechanical arm by utilizing the mechanical arm motion strategy set.
The mechanical arm motion planning system based on scene division has the following beneficial effects:
according to the starting position, each first target position and each preset path point position, a preset control parameter set is generated, when a user determines a second target position, only real-time control parameters for controlling a tail end point of the mechanical arm from an optimal preset path point position corresponding to any second target position to the second target position need to be calculated and determined, and the preset control parameter set is combined, so that a mechanical arm motion strategy set can be generated, repeated calculation amount can be greatly reduced, even if the user resets the specific position of each second target position, a new mechanical arm motion strategy set can be rapidly generated, mechanical arm planning efficiency is greatly improved, and flexibility is strong.
On the basis of the scheme, the mechanical arm motion planning system based on scene division can be further improved as follows.
Further, the system further comprises a verification module, wherein the verification module is used for: and verifying each preset control parameter in the preset control parameter set.
Further, the verification module is further configured to: and verifying each real-time control parameter set in the generated real-time control parameter set.
Further, the determining module is further configured to: and obtaining the position of a preset path point according to the initial position and each first target position.
The storage medium of the present invention stores instructions, and when the instructions are read by a computer, the computer is caused to execute any one of the above-mentioned mechanical arm motion planning methods based on scene division.
An electronic device of the present invention includes a processor and the storage medium, where the processor executes instructions in the storage medium.
Drawings
Fig. 1 is a schematic flowchart of a mechanical arm motion planning method based on scene division according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a robotic arm motion application scenario;
FIG. 3 is a schematic diagram of a first path;
FIG. 4 is a schematic diagram of a second first path;
FIG. 5 is a schematic view of a third first path;
FIG. 6 is one of the schematic diagrams of a robotic arm movement application scenario for determining the position of each second target;
FIG. 7 is a second illustration of a robotic arm movement application scenario for determining the location of each second target;
fig. 8 is a schematic structural diagram of a mechanical arm motion planning method based on scene division according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, a mechanical arm motion planning method based on scene division according to an embodiment of the present invention includes the following steps:
s1, determining a first path from an initial position to each first target position according to the initial position, each first target position and each preset path point position, wherein at least one first path comprises at least one preset path point position;
s2, respectively determining preset control parameters for controlling the tail end point of the mechanical arm from the initial position to each first target position according to each first path, and generating preset control parameter sets;
s3, calculating the optimal preset path point position for reaching each second target position, determining real-time control parameters for controlling the tail end point of the mechanical arm from the optimal preset path point position corresponding to any second target position, and generating a real-time control parameter set;
s4, generating a mechanical arm motion strategy set according to the preset control parameter set and the real-time control parameter set, wherein the mechanical arm motion strategy set comprises: control parameters for controlling the end point of the robot arm from the start position to each second target position;
and S5, controlling the mechanical arm by utilizing the mechanical arm motion strategy set.
According to the starting position, each first target position and each preset path point position, a preset control parameter set is generated, when a user determines a second target position, only real-time control parameters for controlling a tail end point of the mechanical arm from an optimal preset path point position corresponding to any second target position to the second target position need to be calculated and determined, and the preset control parameter set is combined, so that a mechanical arm motion strategy set can be generated, repeated calculation amount can be greatly reduced, even if the user resets the specific position of each second target position, a new mechanical arm motion strategy set can be rapidly generated, mechanical arm planning efficiency is greatly improved, and flexibility is strong.
Preferably, in the above technical solution, after the generating the preset control parameter set, the method further includes:
verifying each preset control parameter in the preset control parameter set, specifically verifying each preset control parameter through actually operating the mechanical arm, or verifying each preset control parameter through simulation, verifying whether a tail end point of the mechanical arm is collided, and the like, so that:
1) If each preset control parameter passes the verification, each preset control parameter in the preset control parameter set can be directly called so as to generate a mechanical arm motion strategy set by combining the real-time control parameter set;
2) If any preset control parameter fails, adjusting the specific position of the preset path point corresponding to the preset control parameter, or adding a new position of the preset path point, then regenerating a new control parameter, and re-verifying until the verification passes, wherein each preset control parameter in the preset control parameter set which passes the verification can be directly called to generate a mechanical arm motion strategy set by combining with the real-time control parameter set;
preferably, in the above technical solution, after the generating the real-time control parameter set, the method further includes:
and verifying each real-time control parameter in the generated real-time control parameter set. Specifically, each real-time control parameter can be verified through actually operating the mechanical arm, or each real-time control parameter can be verified through simulation, whether the tail end point of the mechanical arm is collided or not is verified, and then:
1) If each real-time control parameter passes the verification, each real-time control parameter in the real-time control parameter set can be directly called so as to generate a mechanical arm motion strategy set by combining the preset control parameter set passing the verification;
2) If any real-time control parameter fails, adjusting the specific position of the preset path point corresponding to the real-time control parameter, or adding a new preset path point position, then regenerating a new control parameter, re-verifying, regenerating a real-time control parameter set, and verifying until the verification is passed, wherein each real-time control parameter in the verified real-time control parameter set can be directly called to generate a mechanical arm motion strategy set by combining the verified preset control parameter set;
it should be noted that the real-time control parameters are not calculated in batch, and are directly calculated according to the constraint conditions, and are directly verified after being generated, and if the verification is passed, the real-time control parameters are directly used without recalculation and verification, and the constraint conditions are adjusted or the preset path points are adjusted to recalculate the verification only after the verification is not passed, that is, each real-time parameter set only aims at one motion scene.
Preferably, in the above technical solution, the method further comprises:
and obtaining the position of each preset path point according to the initial position and each first target position, and specifically, determining the position of each preset path point according to the configuration and the motion logic of the mechanical arm on the basis of considering the motion capability and the possible space environment of the mechanical arm.
The mechanical arm motion planning method based on scene division is explained through the following embodiments, specifically:
s10, determining a mechanical arm motion application scene, specifically: determining a starting position and three first target positions, wherein the starting position is marked as O, and the three first target positions are respectively marked as T1, T2 and T3;
s11, determining the position of a preset path point, specifically: according to the configuration and the movement logic of the mechanical arm, on the basis of considering the movement capacity and the possible space environment of the mechanical arm and according to the initial position and each first target position, the position of a safe path point is determined, the determination principle of the safe path point is mainly that the mechanical arm can keep safe at the point for a long time, and it can be understood that the position of the safe path point is a special preset path point position, namely the position of the safe path point is also a preset path point position; and similarly, determining the position of each preset path point according to the initial position and each first target position.
It can be understood that, in the actual calculation, the number of the determined preset path point positions is adjustable and is not uniquely determined, because different numbers and different positions of the preset path point positions can be set on the basis of meeting the above conditions, and in order to reduce the amount of calculation, the minimum number of the preset path point positions are selected as much as possible, in this embodiment, the number of the preset path point positions is 3, which are respectively marked as S, A and B; as shown in fig. 2;
s11, determining each first path and a preset control parameter corresponding to each first path to obtain a preset control parameter set psi, and specifically:
the mechanical arm is sent from point O, and three first paths can be selected as required, specifically:
1) The first path is a path from the point O to the point T1, and as shown in fig. 3, specifically includes: point O → point S → point a → point B → point T1, and the motion path θ of the first path 1 Can be written as: theta.theta. 1 ＝[O，S，A，B，T1]；
Determining a preset control parameter omega for controlling the tail end point of the mechanical arm from the starting position, namely O point to T1 point according to the first path 1 ，Ω 1 ＝[ω OS ，ω SA ，ω AB ，ω BT1 ]Wherein, ω is OS Denotes a control parameter, ω, for controlling the end point of the robot arm from the start position, i.e., the point O to the point S SA Denotes a control parameter, ω, for controlling the end point of the robot arm from the point S to the point A AB Denotes a control parameter, ω, for controlling the end point of the robot arm from point A to point B BT1 A control parameter for controlling the end point of the robot arm from point B to point T1 is shown.
2) The second first path is a path from the point O to the point T2, as shown in fig. 4, specifically: point O → point S → point a → point B → point T2, and the motion path θ of the second first path 2 Can be written as: theta 2 ＝[O，S，A，B，T2]；
Determining a preset control parameter omega for controlling the tail end point of the mechanical arm from the starting position, namely O point to T2 point according to the second first path 2 ，Ω 2 ＝[ω OS ，ω SA ，ω AB ，ω BT2 ]Wherein, ω is BT2 A control parameter for controlling the end point of the robot arm from point B to point T2 is shown.
3) The third first path is a path from the point O to the point T3, as shown in fig. 5, specifically: point O → point S → point a → point T3, and the motion path θ of the third first path 3 Can be written as: theta 2 ＝[O，S，A，T3]；
Determining a preset control parameter omega for controlling the tail end point of the mechanical arm from the starting position, namely O point to T2 point according to the second first path 2 ，Ω 2 ＝[ω OS ，ω SA ，ω AT3 ]Wherein, ω is AT3 A control parameter for controlling the end point of the robot arm from point a to point T3 is shown.
Generating a preset set of control parameters Ψ, Ψ = [ Ω ] 1 ，Ω 2 ，Ω 3 ]；
S12, verifying the preset control parameter set Ψ, specifically:
for each of the preset control parameter sets Ψ, Ω 1 ，Ω 2 And Ω 3 Verifying, specifically, each preset control parameter can be verified through actually operating the mechanical arm, or each preset control parameter can be verified through simulation, whether a tail end point of the mechanical arm collides or not is verified, and then:
1) If each preset control parameter passes the verification, each preset control parameter in the preset control parameter set can be directly called so as to generate a mechanical arm motion strategy set by combining the real-time control parameter set;
2) If any preset control parameter fails, adjusting the specific position of the preset path point corresponding to the preset control parameter, or adding a new position of the preset path point, then regenerating a new control parameter, and re-verifying until the verification passes, wherein each preset control parameter in the preset control parameter set which passes the verification can be directly called to generate a mechanical arm motion strategy set by combining with the real-time control parameter set;
the preset control parameter set Ψ for which verification passes is stored.
S13, determining the optimal preset path point position of each second target position, specifically:
the user may directly input each second target location, for example, a total of three second target locations, respectively labeled as T4, T5, and T6, and the process of determining the optimal preset path point location of each second target location is as follows:
s14, generating a real-time control parameter set, specifically:
for example, as shown in fig. 6, if the optimal preset path point corresponding to T4 is point B, the optimal preset path point corresponding to T5 is point B, and the optimal preset path point corresponding to T6 is point a, then:
1) Determining real-time control parameters from the point B to the point T4 for controlling the tail end of the mechanical arm, and recording the real-time control parameters as omega 4 ，Ω 4 ＝[ω BT4 ]Wherein, ω is BT4 Representing control parameters for controlling the end point of the robot arm from point B to point T4;
2) Determining real-time control parameters for controlling the tail end point of the mechanical arm from the point B to the point T5, and recording the real-time control parameters as omega 5 ，Ω 5 ＝[ω BT5 ]Wherein, ω is BT5 Represents a control parameter for controlling the end point of the robot arm from point B to point T6;
3) Determining real-time control parameters from A point to T6 of the tail end point of the mechanical arm, and recording the real-time control parameters as omega 6 ，Ω 6 ＝[ω AT6 ]Wherein, ω is AT6 Represents a control parameter for controlling the end point of the robot arm from point a to T6;
thereby generating a set of real-time control parameters λ, λ = [ Ω ] 4 ，Ω 5 ，Ω 6 ]；
S15, generating a mechanical arm motion strategy set according to the preset control parameter set and the real-time control parameter set, wherein the mechanical arm motion strategy set comprises: control parameters for controlling the end point of the robot arm from the start position to each second target position, in particular:
1) Omega from the preset set of control parameters Ψ 1 Or Ω 2 To select omega OS ，ω SA ，ω AB From Ω in the control parameter set λ 4 Selecting omega BT4 Generating control parameters for controlling the end point of the mechanical arm from the starting position, namely, the point O to the point T4: [ omega ] of OS ，ω SA ，ω AB ，ω BT4 ]；
2) Omega from the preset set of control parameters Ψ 1 Or Ω 2 To select omega OS ，ω SA ，ω AB From Ω in the control parameter set λ 5 Selecting omega BT5 Generating control parameters for controlling the end point of the mechanical arm from the starting position, namely, the point O to the point T5: [ omega ] OS ，ω SA ，ω AB ，ω BT5 ]；
3) Omega from the preset set of control parameters Ψ 3 To select omega OS ，ω SA From Ω in the control parameter set λ 6 Selecting omega AT6 And generating control parameters for controlling the end point of the mechanical arm from the starting position, namely O point to T6: [ omega ] OS ，ω SA ，ω AT6 ]；
That is, the robot arm motion strategy set includes control parameters for controlling the end point of the robot arm from the start position, i.e., point O, to T4: [ omega ] OS ，ω SA ，ω AB ，ω BT4 ]And control parameters for controlling the tail end point of the mechanical arm from the starting position, namely the point O to the point T5: [ omega ] OS ，ω SA ，ω AB ，ω BT5 ]And generating control parameters for controlling the end point of the mechanical arm from the starting position, namely, the point O to the point T6: [ omega ] OS ，ω SA ，ω AT6 ]；
S16, controlling the mechanical arm by utilizing the mechanical arm motion strategy set, specifically:
1) When the user needs to control the end point of the mechanical arm from the starting position, namely the point O to the point T4, the control parameter for controlling the end point of the mechanical arm from the starting position, namely the point O to the point T4 is directly called: [ omega ] OS ，ω SA ，ω AB ，ω BT4 ]To control the mechanical arm;
2) When the user needs to control the end point of the mechanical arm from the starting position, namely the point O to the point T5, the control parameter for controlling the end point of the mechanical arm from the starting position, namely the point O to the point T5 is directly called: [ omega ] OS ，ω SA ，ω AB ，ω BT5 ]To control the mechanical arm;
3) When the user needs to control the end point of the mechanical arm from the starting position, namely, the point O to the point T6, the control parameter for controlling the end point of the mechanical arm from the starting position, namely, the point O to the point T6 is directly called: [ omega ] OS ，ω SA ，ω AT6 ]To control the robotic arm.
When the user resets the specific position of each second target position, a new mechanical arm motion strategy set can be quickly generated, repeated planning and omega calculation are avoided OS ，ω SA ，ω AB Greatly improve the planning efficiency of the mechanical arm and have strong flexibility.
Furthermore, after determining the robot arm motion strategy set, the control parameters for controlling the end point of the robot arm from the second target position to the specified preset path point position, such as the control parameter ω from T6 to S point, can be reversely obtained T6S Etc., as shown in fig. 7.
When the extraterrestrial celestial body sampling detection mechanical arm is subjected to teleoperation control, accessibility and safety are key problems which cannot be ignored, important consideration is needed during mechanical arm motion planning, and a planning result is fully verified. In practical application of teleoperation, because the configuration and the motion track of the mechanical arm are complex, in order to simplify the problem, the motion strategy of the mechanical arm is generally described by taking a path point as a core, and on the basis, accessibility and safety analysis are carried out, and planning and verification work are implemented.
The path points refer to a plurality of specific positions which are passed by a certain specific point on the mechanical arm or follow-up with the mechanical arm in the space in the motion process of the mechanical arm. The collection of spatial positions that the specific point passes between the path points is the motion path of the mechanical arm. The path point simplifies and decomposes the whole motion trail of the mechanical arm into a plurality of paths, so that the complicated motion trail problem of the mechanical arm is converted into a plurality of relatively simplified path motion problems, and a set formed by solutions of the path motion problems is embodied as a mechanical arm motion strategy. The goal of the mechanical arm motion planning is to solve a reasonable mechanical arm motion strategy, ensure that all path points can be reached in the mechanical arm motion process, and avoid safety problems when the mechanical arm moves according to the strategy.
In practical applications of mechanical arm motion planning, a plurality of safe path points are usually set, and at such path points, the mechanical arm configuration can be safe for a long time and can be safely reached with other path points. On the basis of the safety path point, a plurality of path points which are relatively closer to the motion target point can be set, so that the path points and the safety path point can be safely reached with each other in various application scenes and motion strategies, and the path points and the safety path point are collectively called as preset path points. When the mechanical arm moves among the preset path points, a path with high safety and high movement efficiency can be planned, corresponding control parameters are solidified, the path is called as a preset strategy, and other strategies can be called as real-time strategies.
The invention provides a multi-mode path planning and verification method for a mechanical arm movement application scene in extraterrestrial celestial body sampling detection activities by analyzing two types of preset application scenes of the mechanical arm movement in the extraterrestrial body sampling detection activities. The method decomposes and optimizes the motion scene of the mechanical arm, adopts different planning and verification modes for different types of application scenes, and carries out deep optimization on the motion strategy of the mechanical arm by combining strategy multiplexing. The method improves the efficiency of planning and verifying the mechanical arm motion strategy, solves the problem of high resource consumption in planning and verifying the mechanical arm in a complex motion mode, and has higher engineering application value for improving the efficiency of planning and verifying the mechanical arm complex motion strategy. The method can be used for planning and verifying the mechanical arm motion strategy in deep space exploration and manned space exploration activities.
On the basis of considering different types of strategies of mechanical arm movement, application scenes are decomposed and simplified to optimize planning and verification modes, planning and verification efficiency can be effectively improved, random error influence is reduced, and planning and verification reliability and correctness are improved.
In another embodiment, the method comprises the following steps:
s20, before a teleoperation task of the extraterrestrial celestial body sampling detection mechanical arm starts, a preset scene and a real-time scene are divided according to a mechanical arm multi-branch motion strategy;
and S21, determining a safe path point S according to the configuration and the motion logic of the mechanical arm on the basis of considering the motion capability of the mechanical arm and possible space environment. The principle of determination of the safe path point is mainly that the robot arm can remain safe at this point for a long time.
S22, aiming at a possible motion target space of the mechanical arm, considering factors such as external constraint conditions, the distance between a preset path point and a motion space, mechanical arm motion safety, accessibility of the preset path point, mechanical arm motion efficiency and the like, and planning a plurality of preset path points from a strategy level;
s23, comprehensively considering different motion modes of the mechanical arm, planning mechanical arm control parameters aiming at preset path points, searching a planning result with optimal comprehensive cost, and generating a preset control parameter set omega iS Wherein i is a positive integer;
s24, setting a preset control parameter set omega iS Verifying from multiple angles such as motion safety, accessibility and motion efficiency of the mechanical arm, and re-planning control parameters of the mechanical arm if the verification fails;
s25, storing a preset control parameter set omega iS And the verification result thereof;
s26, after a spacecraft mechanical arm teleoperation task is started, determining a plurality of mechanical arm motion target points T according to actual requirements i ；
S27, considering the optimal cost for each mechanical arm motion target point, selecting a proper preset path point, performing strategy multiplexing judgment, and performing merging optimization on mechanical arm motion strategies with multiplexing relations;
s28, planning a path from the preset path point to the motion target point, and generating a real-time control parameter set omega iT ；
S29, controlling the parameter set omega in real time iT Verifying from the aspects of accessibility and safety of the mechanical arm, and re-planning control parameters of the mechanical arm if the verification fails;
s30, presetting a control parameter set omega iS And real-time control parameter set omega iT Packaging to form a mechanical arm motion strategy psi i ；
S31, corresponding mechanical arm motion strategies psi to the target points i Merging to generate a mechanical arm motion strategy in a multi-branch motion mode; and controlling the mechanical arm according to the mechanical arm motion strategy.
The beneficial effect of a mechanical arm of this application is as follows:
1) The decomposition of the complex motion scene of the sampling detection mechanical arm for the extraterrestrial celestial body is realized;
2) The strategy planning and verification mode simplification under the complex motion scene of the extraterrestrial celestial body sampling detection mechanical arm is realized;
3) Optimization of a control strategy under a complex motion scene of the extraterrestrial celestial body sampling detection mechanical arm is realized;
the method and the device for planning and verifying the complex motion strategy of the extraterrestrial celestial body sampling detection mechanical arm are capable of planning and verifying the complex motion strategy of the extraterrestrial celestial body sampling detection mechanical arm, improving the efficiency of path planning and verification, optimizing the mechanical arm control strategy and saving planning and verification resources.
In the foregoing embodiments, although steps are numbered as S1, S2, etc., but the embodiments are only specific examples given in this application, and those skilled in the art may adjust the execution order of S1, S2, etc. according to the actual situation, and this is also within the protection scope of the present invention, and it is understood that some embodiments may include some or all of the above embodiments.
As shown in fig. 8, a system 200 for planning robot arm movement based on scenario division according to an embodiment of the present invention includes a determining module 210, a generating module 220, and a control module 230;
the determining module 210 is configured to: determining a first path from the starting position to each first target position according to the starting position, each first target position and each preset path point position, wherein at least one first path comprises at least one preset path point position;
the generating module 220 is configured to:
respectively determining preset control parameters for controlling the tail end point of the mechanical arm from the initial position to each first target position according to each first path, and generating preset control parameter sets;
calculating the optimal preset path point position for reaching each second target position, determining real-time control parameters for controlling the tail end point of the mechanical arm from the optimal preset path point position corresponding to any second target position, and generating a real-time control parameter set;
generating a mechanical arm motion strategy set according to the preset control parameter set and the real-time control parameter set, wherein the mechanical arm motion strategy set comprises: a control parameter for controlling the end point of the robot arm from the start position to each second target position;
the control module 230 is configured to: and controlling the mechanical arm by utilizing the mechanical arm motion strategy set.
According to the starting position, each first target position and each preset path point position, a preset control parameter set is generated, when a user determines a second target position, only real-time control parameters for controlling a tail end point of the mechanical arm from an optimal preset path point position corresponding to any second target position to the second target position need to be calculated and determined, and the preset control parameter set is combined, so that a mechanical arm motion strategy set can be generated, repeated calculation amount can be greatly reduced, even if the user resets the specific position of each second target position, a new mechanical arm motion strategy set can be rapidly generated, mechanical arm planning efficiency is greatly improved, and flexibility is strong.
Preferably, in the above technical solution, the apparatus further includes a verification module, and the verification module is configured to: and verifying each preset control parameter in the preset control parameter set.
Preferably, in the above technical solution, the verification module is further configured to: and verifying each real-time control parameter set in the generated real-time control parameter set.
Preferably, in the above technical solution, the determining module 210 is further configured to: and obtaining the position of a preset path point according to the initial position and each first target position.
The above steps for realizing the corresponding functions of each parameter and each unit module in the mechanical arm motion planning system 200 based on scene division according to the present invention may refer to each parameter and step in the above embodiment of a mechanical arm motion planning method based on scene division, which are not described herein again.
The storage medium stores instructions, and when the instructions are read by a computer, the computer is enabled to execute any one of the above-mentioned mechanical arm motion planning methods based on scene division.
An electronic device of the present invention includes a processor and the storage medium, where the processor executes instructions in the storage medium. The electronic device can be a computer, a mobile phone and the like.
As will be appreciated by one skilled in the art, the present invention may be embodied as a system, method or computer program product.
Accordingly, the present disclosure may be embodied in the form of: may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software, and may be referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media having computer-readable program code embodied in the medium.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A mechanical arm motion planning method based on scene division is characterized by comprising the following steps:
determining a first path from the starting position to each first target position according to the starting position, each first target position and each preset path point position, wherein at least one first path comprises at least one preset path point position;
respectively determining preset control parameters for controlling the end point of the mechanical arm from the initial position to each first target position according to each first path, and generating preset control parameter sets;
calculating the optimal preset path point position for reaching each second target position, determining real-time control parameters for controlling the tail end point of the mechanical arm from the optimal preset path point position corresponding to any second target position, and generating a real-time control parameter set;
generating a mechanical arm motion strategy set according to the preset control parameter set and the real-time control parameter set, wherein the mechanical arm motion strategy set comprises: a control parameter for controlling the end point of the robot arm from the start position to each second target position;
and controlling the mechanical arm by utilizing the mechanical arm motion strategy set.
2. The mechanical arm motion planning method based on the scenization division as recited in claim 1, wherein after the generating the preset control parameter set, the method further includes:
and verifying each preset control parameter in the preset control parameter set.
3. The mechanical arm motion planning method based on the scenization division according to claim 1, wherein after the generating the real-time control parameter set, the method further comprises:
and verifying each real-time control parameter set in the generated real-time control parameter set.
4. The mechanical arm motion planning method based on the scene division according to any one of claims 1 to 3, further comprising:
and obtaining the position of a preset path point according to the initial position and each first target position.
5. A mechanical arm motion planning system based on scene division is characterized by comprising a determining module, a generating module and a control module;
the determination module is to: determining a first path from the starting position to each first target position according to the starting position, each first target position and each preset path point position, wherein at least one first path comprises at least one preset path point position;
the generation module is configured to:
respectively determining preset control parameters for controlling the tail end point of the mechanical arm from the initial position to each first target position according to each first path, and generating preset control parameter sets;
calculating the optimal preset path point position for reaching each second target position, determining a real-time control parameter for controlling a tail end point of the mechanical arm from the optimal preset path point position corresponding to any second target position, and generating a real-time control parameter set;
generating a mechanical arm motion strategy set according to the preset control parameter set and the real-time control parameter set, wherein the mechanical arm motion strategy set comprises the following steps: a control parameter for controlling the end point of the robot arm from the start position to each second target position;
the control module is used for: and controlling the mechanical arm by utilizing the mechanical arm motion strategy set.
6. The scenarized based robotic arm motion planning system of claim 5, further comprising a verification module to: and verifying each preset control parameter in the preset control parameter set.
7. The scenarized based robotic arm motion planning system of claim 6, wherein the verification module is further configured to: and verifying each real-time control parameter set in the generated real-time control parameter set.
8. The system for planning the motion of the mechanical arm based on the scenarized segmentation according to any one of claims 5 to 7, wherein the determining module is further configured to: and obtaining the position of a preset path point according to the initial position and each first target position.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117621087A (en) * | 2024-01-11 | 2024-03-01 | 湖北理工学院 | Automatic control method, system, terminal and medium for mechanical arm based on visual feedback |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117621087A (en) * | 2024-01-11 | 2024-03-01 | 湖北理工学院 | Automatic control method, system, terminal and medium for mechanical arm based on visual feedback |
| CN117621087B (en) * | 2024-01-11 | 2024-04-30 | 湖北理工学院 | Automatic control method, system, terminal and medium for mechanical arm based on visual feedback |
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