Motion Planning
码垛与上下料现场，需要会“绕开”的轨迹 Palletizing and Machine Tending Need Motions That Know How to Avoid
任务场景The Task
码垛、拆垛、上下料的工位从来不是空的：垛型在长高、周转箱在移动、人员偶尔进入。机械臂需要在这样的环境中连续生成安全、可执行且高效的轨迹。
- 避开动态障碍：垛型与周转箱实时变化，示教轨迹无法覆盖所有工况。
- 守住安全边界：设备、围栏与人员区域必须成为不可逾越的限制。
- 兼顾节拍与能耗：既要缩短单次搬运时间，也要控制电机发热与能耗。
Palletizing, depalletizing, and machine-tending cells are never empty: stacks grow, totes move, and people occasionally step in. The manipulator must continuously generate motions that are safe, executable, and efficient.
- Avoid moving obstacles: stacks and totes change constantly; taught paths cannot cover every case.
- Respect safety bounds: equipment, fences, and human zones must be hard limits.
- Balance cycle time and energy: cut handling time while keeping motor heating and energy use in check.
min
time or energy
s.t.
kinematics
collision avoidance
initial and terminal pose
现场需求可以直接写成一个带约束的优化问题：以节拍或能耗为目标，把运动学、避障与起终点位姿作为约束，由求解器统一处理。
The requirements above map directly onto a constrained optimization problem: minimize cycle time or energy, subject to kinematics, collision avoidance, and boundary poses — all handled by the solver at once.
