FAST METHOD FOR ROBOT PATH PLANNING WITH OBSTACLE AVOIDANCE

• Main Authors: ZENG XIAOLAN, FAN LI, MAO YUANFENG, SALEHEEN FIRDOUS, WEI GUOQING, CHIEN CHIENUNG
• Format: Patent
• Language: Chinese; English
• Published: 18.06.2021
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The present teaching relates to a method and a system for path planning. Information of a current pose of a robotic arm having a plurality of operable segments is obtained. The information includes a plurality of values, each of which corresponds to an angle formed between consecutive operable segments of the robotic arm. A desired pose where the robotic arm needs to reach is also obtained. An angle step-value is computed for the current pose of the robotic arm based on a function of a distance between the current pose and the desired pose, wherein the angle step value is to be used to determine a plurality of candidate next poses of the plurality of operable segments. One or more of candidate next poses is selected based on at least one criterion, and a trajectory is determined from the current pose to the desired pose based on the selected next poses. 本教导涉及用于路径规划的方法和系统。获取具有多个可操作区段的机器人臂的当前姿态的信息。该信息包括多个值，其中每一个值对应于在机器人臂的连续可操作区段之间形成的角度。还获取机器人臂需要达到的期望姿态。基于当前姿态与期望姿态之间的距离的函数来为机器人臂的当前姿态计算角度步进值，其中该角度步进值将被用来确定多个可操作区段