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

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.