Method and apparatus for implementing a parallel processing algorithm for real-time path generation of high-degree-of-freedom robot manipulators

Implementation Method of Parallel Processing Algorithm for Real-Time Path Generation of High-Degree-of-Freedom Robot Manipulators

This technology is a path post-processing algorithm that determines optimal, collision-free joint configurations in real time by parallelizing the search for all possible joint combinations across multiple sub-paths, thereby efficiently improving the manipulator's motion trajectory.

Existing adaptive partial shortcut (APSC) techniques sample and select a fixed number of joints during iterative path refinement, which leads to increased computation time as iterations grow and makes it difficult to respond to dynamic environments.

This technology divides the manipulator's motion path into multiple sub-paths and performs parallel computations on all possible joint combinations for each sub-path to select and apply the optimal configuration in real time, maximizing path refinement efficiency. Applicable to logistics transport, service robots, and autonomous platforms, it reduces total computation time and enables parallel processing in dynamic environments, improving path generation efficiency for high-degree-of-freedom robot manipulators.

‍

‍

Key Features:

• Determining sub-paths from the existing path and initializing each sub-path
• Determining all possible joint combinations for each sub-path
• Performing parallel path refinement for each joint combination to generate improved sub-paths
• Replacing existing sub-paths with those that provide the greatest path refinement effect

‍

This invention was developed with support from the Ministry of Science and ICT's Human-Centric CPS research program.