Redundant manipulator motion planning method

A technology of motion planning and manipulators, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as large amount of calculation, difficulty, and poor real-time performance, and achieve the effect of improving calculation efficiency and strong real-time performance

Inactive Publication Date: 2010-08-18
SUN YAT SEN UNIV
View PDF4 Cites 67 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its disadvantage is that it is difficult to deal with inequality constraints, the amount of calculation is large, and the real-time performance is poo...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Redundant manipulator motion planning method
  • Redundant manipulator motion planning method
  • Redundant manipulator motion planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] figure 1 The shown redundant manipulator motion planning method mainly consists of target problem 1, quadratic programming problem 2, linear variational inequality based primal dual neural network solver or quadratic programming numerical algorithm 3, lower computer controller 4 and the manipulator 5 composition. First, the inverse kinematics solution is designed to minimize the velocity layer and is subject to θ - ≤θ≤θ + , Performance indicators to be optimized Can be the minimum velocity norm function repetitive motion metrics or minimum kinetic energy function Transform the above-mentioned various redundancy analysis schemes into a general quadratic optimization standard form 2, and then use the original dual neural network or quadratic programming numerical method 3 based on linear variational inequality to solve the problem, and pass the s...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a redundant manipulator motion planning method which comprises the following steps that: (1) an upper computer analyzes the inverse kinematics of a manipulator on a velocity layer through quadratic optimization, the designed minimum performance index can be velocity norm, repetitive motion or kinetic energy and is bound by a velocity jacobian equation, an inequation and a joint angular velocity limit, and the angular velocity limit changes with a joint angle; (2) the quadratic optimization of step (1) is optimized into a quadratic programming problem; (3) the quadratic programming problem in step (2) is calculated by a linear variational inequation primal-dual neural network solver or a numerical method; and (4) the calculation result in step (3) is transmitted to a lower computer controller to drive the manipulator to move. The redundant manipulator motion planning method is based on the primal-dual neural network of the linear variational inequation, has global exponential convergence, does not involve matrix inversion and other complicated operations, greatly improves the calculation efficiency, and simultaneously has strong real-time performance, and can adapt to the changes to the joint angular velocity limit.

Description

technical field [0001] The invention belongs to a motion planning method of a redundant manipulator, in particular to a motion planning method of a redundant manipulator in which joint angular velocity changes to a limit. Background technique [0002] The redundant manipulator is a terminal active mechanical device with a degree of freedom greater than the minimum degree of freedom required by the task space. Its motion tasks include welding, painting, assembly, excavation, and drawing, etc. It is widely used in equipment manufacturing, product processing, and machine operations. and other national economic production activities. The inverse kinematics problem of the redundant manipulator refers to the problem of determining the joint angle of the manipulator given the end pose of the manipulator. Traditional redundancy analysis methods and industrial manipulator control methods are mainly based on the pseudo-inverse method: that is, the solution of the problem is transform...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/08
Inventor 张雨浓张智军李克讷
Owner SUN YAT SEN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap