Motion planning method for robot arms, computing device and robot
US11318615B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 30, 2019 |
| Grant date | May 3, 2022 |
| Priority date | — |
| Expiry date | Sep 9, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40495
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.