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MOTION PLANNING METHOD FOR ROBOT ARMS, COMPUTING DEVICE AND ROBOT
MOTION PLANNING METHOD FOR ROBOT ARMS, COMPUTING DEVICE AND ROBOT
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机译:机器人手臂的运动计划方法,计算装置和机器人
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摘要
A motion planning method for robot arms includes: calculating an arm angle range of each pose of a tail end of a robot arm in the motion trajectory; calculating a start arm angle value of a start pose of the tail end of the robot arm in the motion trajectory; calculating an arm angle proportion according to the start arm angle value and the arm angle range of the start pose; identifying an abruptly changing arm angle range in the arm angle range of each pose according to a upper boundary curve and a lower boundary curve; calculating an arm angle of a pose corresponding to the abruptly changing arm angle range; calculating arm angles corresponding to the other poses according to the arm angle proportion; and calculating an angle of a joint of the robot arm.
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