一种基于无碰撞轨迹规划算法的方法
本发明涉及机器人打磨技术领域,尤其是提供了一种基于无碰撞轨迹规划算法的方法。该方法包括构建基于曲面点云的轨迹规划;设计基于有向包围盒的碰撞检测;自适应更新机器人角度或更改安装位置,获得最优的无碰撞轨迹,该方法在完成打磨任务的同时,有效解决了狭窄、复杂环境下的打磨机器人轨迹规划问题,降低了人力成本,提升了生产过程的效率和自动化程度。
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