Method for optimizing performance indexes of different layers of redundancy mechanical arm simultaneously

Abstract

The invention provides a method for optimizing performance indexes of different layers of a redundancy mechanical arm simultaneously. The method comprises the following steps: according to performance indexes of an angle layer, a speed layer and an acceleration layer which are to be optimized, establishing a corresponding redundancy analytical scheme by introducing a weight regulatory factor, wherein the analytical scheme is constrained by Jacobin matrix equation of speed and acceleration, a kinetic equation of a mechanical arm, joint angle limit, joint speed limit, joint acceleration limit and joint torque limit; converting the redundancy analytical scheme into a uniform quadratic problem by utilizing equivalence of the performance indexes of the three layers and introducing equivalence parameters; solving a quadratic planning problem by using a quadratic planning solver; and driving the mechanical arm to complete a given end task by a lower computer controller according to solution. According to the invention, the weight regulatory factor is intruded to optimize the performance indexes of different layers at the same time, and the mechanical arm can complete the given end task.

Description

technical field [0001] The invention relates to the field of motion planning and control of a redundant manipulator, in particular to a method for simultaneously optimizing performance indexes of different layers of a redundant manipulator. Background technique [0002] A redundant manipulator is a mechanical device with more degrees of freedom than the minimum required to perform terminal tasks, such as welding, painting, assembly, digging, and drawing. A key problem in the operation of redundant manipulators is the problem of redundancy analysis (including inverse kinematics and inverse dynamics), that is, the problem of determining the joint angle of the manipulator by knowing the end pose of the manipulator. Currently effective redundancy analysis schemes are all analyzed on a single / same layer (such as velocity layer, acceleration layer or moment layer). However, there are deficiencies in single / same-layer optimization schemes: the pure velocity layer analysis scheme i...

AI Technical Summary

Problems solved by technology

However, there are deficiencies in single / same-layer optimization schemes: the pure velocity layer analysis scheme is difficult to consider the acceleration limit and torque limit; and the pure acceleration layer and pure torque layer analysis scheme is prone to velocity divergence and final state velocity. zero phenomenon

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