Method and apparatus for motion planning of robot, method and apparatus for path planning of robot, and method and apparatus for grasping of robot

A method for path planning of a robot based on collision degree detection, the method comprising:

• when the robot completes a grasping operation on an object, performing moving path planning on the robot based on the collision degree detection, discretizing a moving path corresponding to a result of the moving path planning, and transmitting discretized trajectory points obtained by the discretizing for the robot to move;
• determining a moving time point of the robot corresponding to each of the discretized trajectory points based on a moving speed of the robot, and performing collision detection on the object at the moving time point;
• and
• stopping moving of the robot at a time point when a collision degree is higher than a collision sensitivity of the object, to prevent an occurrence of danger.

A method for grasping of a robot based on collision degree detection, the method comprising:

• calculating, based on a clamping device at an operation terminal of the robot and an object to be grasped, all grasping poses of the robot for grasping the object;
• determining, based on a first symmetry degree of the object and a second symmetry degree of a set of contact points between the clamping device and the object, a target pose with a minimum degree of transformation relative to a current pose of the robot from the grasping poses;
• and
• performing the collision degree detection on the clamping device to determine a moving path from the current pose to the target pose, and transmitting to the robot trajectory points obtained by discretizing the moving path to complete a grasping operation.