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Patent Searching and Data


Title:
GRABBING ATTITUDE CALCULATION METHOD IN SCENARIO WHERE LIVE-WORKING ROBOT GRABS BRANCH LINE
Document Type and Number:
WIPO Patent Application WO/2021/174796
Kind Code:
A1
Abstract:
Disclosed is a grabbing attitude calculation method in a scenario where a live-working robot grabs a branch line. The method comprises: (1) dividing a working space in advance according to the positions of line grabbing points; (2) determining a search range in the divided working space; (3) selecting the center of the search range in the working space to which the line grabbing points belong as the attitude of a calculated initial pose; (4) setting a search step size, setting a preset value of the search step size, and with the attitude of the calculated initial pose serving as a starting point, determining all search attitudes within the search range of a robot arm motion attitude in the working space to which the line grabbing points belong; (5) using collision detection to screen all determined search poses; (6) using an evaluation function to sort the screened search poses and carrying out simulation planning, and if a certain candidate search pose is successfully planned, selecting the candidate search pose; and (7) with the successfully planned candidate search pose serving as a new calculated initial pose, halving the search step size to obtain a final search pose.

Inventors:
CHENG MIN (CN)
LIN HUAN (CN)
MAO CHENGLIN (CN)
Application Number:
PCT/CN2020/113906
Publication Date:
September 10, 2021
Filing Date:
September 08, 2020
Export Citation:
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Assignee:
YIJIAHE TECH CO LTD (CN)
International Classes:
B25J9/16; G05D3/12
Foreign References:
CN111283686A2020-06-16
CN110509279A2019-11-29
CN107953334A2018-04-24
JP2016040066A2016-03-24
JP2017227955A2017-12-28
Attorney, Agent or Firm:
BEYOND ATTORNEYS AT LAW (CN)
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