Visual Obstacle Avoidance Trajectory Control of Intelligent Loading and Un-loading Robot Arm Based on Hybrid Interpolation Spline
To solve the problems of uneven movement speed,dynamic collision conflicts,and trajectory discontinuity of robotic arms in complex environments,a visual obstacle avoidance trajectory control method for intelligent loading and unloading robotic arms based on mixed interpolation splines is proposed.Obtain disparity maps based on collected environmental images and perform binary processing on them.On this basis,the contour extraction algorithm is used to obtain the contour and center coordinates of the obstacle,and the obstacle localization is completed.Utilize the improved TEB-VO algorithm to develop obstacle avoidance trajectory control for intelligent loading and unloading robotic arms,and then use mixed interpolation splines to optimize the trajectory control.Under the constraint of max-imum path curvature,the continuity of trajectory control is improved.The experimental results show that the proposed method has high smoothness of obstacle avoidance trajectory,high control efficiency,and strong adaptability.
mixed interpolation splineintelligent loading and unloading robotic armtrajectory controlobstacle position-ingtime elastic band algorithm
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