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System and method for trajectory planning for manipulators in robotic finishing applications
System and method for trajectory planning for manipulators in robotic finishing applications
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机译:机器人整理应用中操纵器轨迹规划的系统和方法
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摘要
Methods, systems, and apparatus for automatically moving a tool attached to a robotic manipulator from a start position to a goal position. The method includes determining, using a processor, a plurality of next possible positions from the start position. The method includes selecting a second position from the plurality of next possible positions based on respective costs associated with moving the tool from the start position to each of the possible positions in the plurality of next possible positions. The method includes moving, using a plurality of actuators, the tool to the second position. The method includes determining an updated plurality of next possible positions, selecting a next position, and moving the tool to the next position until the goal position is reached.
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