Title: A method for selecting the grasping path of a multi-degree of freedom robot arm based on laser ranging technology

Authors: Hui Yan; Yunxin Long; Huangbin Guo; Ping Yu; Duo Long

Addresses: School of Information Engineering, Suqian University, Suqian, 223800, China ' College of Traditional Chinese Medicine, Changchun University of Chinese Medicine, Changchun, 130117, China ' Jilin Province S&T Innovation Center for Physical Simulation and Security of Water Resources and Electric Power Engineering, Changchun Institute of Technology, Changchun, 130012, China ' Jilin Province S&T Innovation Center for Physical Simulation and Security of Water Resources and Electric Power Engineering, Changchun Institute of Technology, Changchun, 130012, China ' School of Economics and Management, Suqian University, Suqian, 223800, China

Abstract: In view of the shortcomings of large grasping displacement, poor stability and large energy loss of each axis, the method of grasping path selection is proposed based on laser ranging technology. First, establish the position coordinate system of the grasping arm. Second, realise the target calibration of the grasping arm through homogeneous transformation. Then, construct the dynamic model of the grasping process. Finally, the grasping path selection of the grasping arm is realised through the stochastic road map algorithm (PRM). It is proved that the grasping displacement of the robotic arm can be kept below 1.5 cm, and the energy consumption of each axis of the robotic arm is 14~24 kW, and the energy consumption is low and has good application performance.

Keywords: laser ranging; multi-degree of freedom robotic arm; coordinate system; dynamic model; grab path.

DOI: 10.1504/IJMPT.2024.143244

International Journal of Materials and Product Technology, 2024 Vol.68 No.3/4, pp.199 - 214

Received: 10 Nov 2023
Accepted: 28 Feb 2024
Published online: 11 Dec 2024 *

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