Title:
MOTION PLANNING METHOD, APPARATUS AND SYSTEM FOR ACTUATOR, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/045091
Kind Code:
A1
Abstract:
A motion planning method for an actuator (13), the method comprising: determining a sequence in which an end effector in an actuator (13) accesses a plurality of objects in the same plane; determining a dynamic constraint condition of the actuator (13); executing motion planning of the actuator (13) on the basis of the sequence and the dynamic constraint condition; generating a motion control instruction of the actuator (13) on the basis of the motion planning result, wherein the motion control instruction is adapted to control over the motion of the actuator (13), such that the total time spent by the end effector in sequentially accessing the plurality of objects in the same plane is the shortest; and sending the motion control instruction. The method can optimize the cycle time of a planar sequencing task, improve the operation efficiency, and may also be integrated with edge computing; and an access sequence and motion planning are autonomously determined on an edge side, thereby reducing the control workload of an actuator. Further provided in the present application are a motion planning apparatus and system for an actuator, and a storage medium.
Inventors:
WANG ZIJIAN (CN)
ZHAO XU (CN)
FAN SHUNJIE (CN)
ZHAO XU (CN)
FAN SHUNJIE (CN)
Application Number:
PCT/CN2022/116361
Publication Date:
March 07, 2024
Filing Date:
August 31, 2022
Export Citation:
Assignee:
SIEMENS AG (DE)
SIEMENS LTD CHINA (CN)
SIEMENS LTD CHINA (CN)
International Classes:
B25J9/16
Domestic Patent References:
| WO2017139613A1 | 2017-08-17 |
Foreign References:
| CN111805542A | 2020-10-23 | |||
| CN113741486A | 2021-12-03 | |||
| CN106020189A | 2016-10-12 | |||
| CN110531773A | 2019-12-03 |
Attorney, Agent or Firm:
KANGXIN PARTNERS, P.C. (CN)
Download PDF: