METHOD AND SYSTEM FOR PLANNING THE MOVEMENT OF A MANIPULATOR ROBOT BY CORRECTING THE REFERENCE TRAJECTORIES

摘要

FIELD: robotics.;SUBSTANCE: method for planning the movement of a manipulator robot comprises the following stages: receiving the information on the preset position and orientation of the working body whereto the working body of the manipulator robot is to be moved; determining the current position and orientation of the working body of the manipulator robot; determining the cell of the area of interest whereto the working body of the manipulator robot is to be moved; determining the closest possible orientation of the working body of the manipulator robot to the preset orientation; extracting a pregenerated straight reference trajectory from the list; determining a set of angles of the hinges of the manipulator robot in a point of the preset position with the preset orientation; consecutively removing points from the end of the extracted straight reference trajectory until the length of the trajectory is reduced by the value of the size of the cell; adding a point corresponding to the preset position with the preset orientation to the end of the trajectory and a point corresponding to the current position of the working body of the manipulator robot to the beginning; moving the working body of the manipulator robot in accordance with the trajectory obtained at the previous stage.;EFFECT: reduced time for planning the movement of the manipulator robot.;10 cl, 18 dwg