Research on Motion Planning of Cleaning Robot Manipulator Based on Deep Learning
In order to solve the problem of the difficulty in the motion planning of the manipulator due to the unpredictable of the dust removal action planning of the cleaning robot,a high-level planning method is used to clean the surface dust at home,and a motion planning method for collaborative manipulator opera-tion cleaning is proposed.By utilizing the effective operation sequence of the manipulator for time plan-ning,it replannings with updated information,fully considering the planning and quality of different wipers or cleaning tools within the planned time.The experimental results show that deep learning effectively changes the grasping and dragging behavior of the cleaning robot manipulator,making the operation motion planning performance of the cleaning robot manipulator better,especially advantageous in planning and completing complex cleaning tasks.
万方数据
维普
