Multi-axis robot system motion planning method, electronic equipment and medium

The invention discloses a multi-axis robot system motion planning method, an electronic device and a medium, by solving a wrist center corresponding to a target pose and utilizing geometric space characteristics of a robot, the reachability of the target pose in a space can be quickly judged, the se...

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Bibliographic Details
Main Authors CHEN GAOJIN, FU YINFEI
Format Patent
LanguageChinese
English
Published 15.09.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention discloses a multi-axis robot system motion planning method, an electronic device and a medium, by solving a wrist center corresponding to a target pose and utilizing geometric space characteristics of a robot, the reachability of the target pose in a space can be quickly judged, the search efficiency is improved, and meanwhile, the accuracy of the motion planning of the multi-axis robot system is improved. By rapidly solving the effective value range of the additional axis corresponding to the point, the search range of the additional axis can be effectively reduced, and the solving speed is increased; and additional axis information is added in a traditional motion planning space, so that the additional axis of the to-be-solved point is preferentially valued around an adjacent point, frequent movement of the additional axis can be effectively reduced, and the path planning quality is improved. 本发明公开了一种多轴机器人系统运动规划方法、电子设备及介质，通过求取目标位姿对应的手腕中心，利用机器人的几何空间特性，能够快速的对空间中目标位姿的可达性进行判断，提高搜索效率，同时，通过快速的求解出该点处
Bibliography:Application Number: CN202311052473