Motion planning method for robot arms, computing device and robot

A computing device, comprising:

• a processor, a memory a communication interface and a communication bus;
• wherein the processor;
• the memory and the communication interface communicate with each other via the communication bus;
• and
• the memory is configured to store at least one executable instruction, wherein the executable instruction, when being executed by the processor, causes the processor to perform the steps of:
• acquiring a motion trajectory of a tail end of a robot arm;
• calculating an arm angle range of each pose of the tail end of the robot arm in the motion trajectory;
• generating an upper boundary curve and a lower boundary curve according to the arm angle range;
• calculating a start arm angle value of a start pose of the tail end of the robot arm in the motion trajectory;
• calculating an arm angle proportion according to the start arm angle value and the arm angle range of the start pose;
• identifying an abruptly changing arm angle range in the arm angle range of each pose according to the upper boundary curve and the lower boundary curve;
• calculating an arm angle of a pose corresponding to the abruptly changing arm angle range according to a predetermined correction model;
• calculating arm angles corresponding to the other poses according to the arm angle proportion, wherein the other poses are poses other than the pose corresponding to the abruptly changing arm angle range;
• and
• calculating an angle of a joint of the robot arm corresponding to each pose according to a pose of the tail end of the robot arm in the motion trajectory and the arm angle of each pose.