Initialization method for redundant manipulator motion planning

Abstract

The invention provides an initialization method for redundant manipulator motion planning, which comprises the following steps of: 1) starting a redundant manipulator controller, and adjusting the redundant manipulator to a limit position; 2) taking the limit position in the step 1) as an initial value of the initialization method, and setting a manipulator task execution position as an end valueof the initialization method so as to transform a manipulator control problem into a corresponding quadratic planning problem; 3) solving the quadratic planning problem in the step 2) by utilizing a quadratic planning solver; and 4) using a result obtained in the step 3) for driving various joint motors to make the manipulator rotate from the limit position to the task execution position. The quadratic planning-based initialization method avoids the complicated process of measuring the angles of various joints in each task operation, and specifies an initial position of each task according toa task requirement.

Description

technical field [0001] The invention belongs to a method for initializing motion planning of a redundant mechanical arm. 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. When redundant manipulators perform tasks in different locations in space, after completing a task, they often need to move from the current position to the execution position of the next task. Generally speaking, the movement of the redundant robotic arm from the current position to the execution position of the next task is achieved by slowly moving the robotic arm and continuously adjusting it. However, this approach is quite cumbersome and ha...

AI Technical Summary

Problems solved by technology

However, this approach is quite cumbersome and has disadvantages: every time the task operation position is changed, it may be necessary to measure the angles of each joint multiple times so that the mechanical arm can accurately reach the position of task execution; and the task execution position measurement (or adjustment) ) inaccuracy will also affect the normal completion of the task of the robot arm

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