Motion trajectory planning method of mechanical arm of humanoid robot for preventing collision

Abstract

The invention provides a motion trajectory planning method of mechanical arms of a humanoid robot for preventing collision. In the prior art, the collision problem is not solved fundamentally. The method adopts a joint space-based interpolation method to solve the collision problem between the mechanical arms and a table caused by motion trajectory generation of the mechanical arms, and mainly aims at operation of humanoid arms of the humanoid robot oriented to tabletops or objects similar to tabletops. The mechanical arm freedom degree includes three freedom degrees of the shoulder, two freedom degrees of the elbow and two freedom degrees of the wrist. The concrete implementation method comprises under the premise of ensuring completion of target operation at a fixed moment, properly bending the elbow at the collision occurring moment during the motion of the mechanical arms to prevent collision. With such scheme, the mechanical arms can move without collision while realizing high flexibility and large operation space.

Description

technical field [0001] The invention belongs to the field of robots, in particular to a method for planning a collision-avoiding motion trajectory of a mechanical arm of a humanoid robot. Background technique [0002] The trajectory planning of the robotic arm refers to planning a collision-free motion path from the initial pose to the target pose under certain constraints. According to different planning spaces, trajectory planning methods can be divided into two types: trajectory planning based on joint space and trajectory planning based on task space (ie, Cartesian space). These two methods have certain limitations. Since the operation of the manipulator is usually described in the Cartesian space, the trajectory planning method based on the joint space is not intuitive to describe the task, while the trajectory planning based on the task space needs to realize the Cartesian The inverse kinematics solution of the position and orientation of the space is converted into t...

AI Technical Summary

Problems solved by technology

In the patent application number 201110037726.9, a method for collision-free trajectory planning of industrial robots is described. This method divides the entire Cartesian space into three parts, the obstacle area, the non-collision area and the collision area. Each area is described by one or more cylindrical spaces, and the trajectory of the robotic arm is only planned in the non-collision area. It can be seen that this method does not fundamentally solve the collision problem

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