Motion trajectory planning method for robotic manipulator, robotic manipulator and computer-readable storage medium

A robotic manipulator, comprising:

• a visual inspection system
• one or more processors;
• a memory;
• and
• one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprise:
• instructions for, in response to the robotic manipulator receiving a command instruction, obtaining environmental data collected by the visual inspection system;
• instructions for determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library comprises at least one DS model motion trajectory generated based on human teaching activities;
• and
• instructions for at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator;
• wherein an obstacle avoidance correction is performed on initial DS model motion trajectory in response to there being the obstacle in the first object included in the environmental data;
• wherein the obstacle avoidance correction performed on initial DS model motion trajectory comprises:
• in response to the obstacle being a concave obstacle, dividing the concave obstacle into at least two convex obstacles that intersect each other, wherein at least one intersection curve is formed between the at least two convex obstacles intersecting each other;
• in response to an intersection of the initial DS model motion trajectory and the concave obstacle not located on the at least one intersection curve, calculating a combined modal matrix formed by the at least two convex obstacles, and correcting the initial DS model motion trajectory using the combined modal matrix.

A non-transitory computer-readable storage medium storing one or more programs to be executed in a motion trajectory planning device for a robotic manipulator having a visual inspection system, the one or more programs, when being executed by one or more processors of the gesture recognition device, causing the motion trajectory planning device to perform processing comprising:

• in response to the robotic manipulator receiving a command instruction, obtaining environmental data collected by the visual inspection system;
• determining an initial DS model motion trajectory of the robotic manipulator according to the command instruction, the environmental data, and a preset teaching motion DS model library, wherein the teaching motion DS model library comprises at least one DS model motion trajectory generated based on human teaching activities;
• and
• at least based on a result of determining whether there is an obstacle, whose pose is on the initial DS model motion trajectory, in a first object included in the environmental data, correcting the initial DS model motion trajectory to obtain a desired motion trajectory of the robotic manipulator;
• wherein an obstacle avoidance correction is performed on initial DS model motion trajectory in response to there being the obstacle in the first object included in the environmental data;
• wherein the obstacle avoidance correction performed on initial DS model motion trajectory comprises:
• in response to the obstacle being a concave obstacle, dividing the concave obstacle into at least two convex obstacles that intersect each other, wherein at least one intersection curve is formed between the at least two convex obstacles intersecting each other;
• in response to an intersection of the initial DS model motion trajectory and the concave obstacle not located on the at least one intersection curve, calculating a combined modal matrix formed by the at least two convex obstacles, and correcting the initial DS model motion trajectory using the combined modal matrix.