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QP unified and coordinated motion describing and programming method for movable manipulator

A technology for moving manipulators and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as unmovable platform and manipulator coordination control, and achieve the effect of avoiding extra workload and cumbersome processes

Inactive Publication Date: 2013-06-12
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the combination of the mobile platform and the fixed manipulator creates a new problem: how to coordinate and control the motion of the mobile platform and the manipulator at the same time? As far as the general planning scheme is concerned, either the movement of the mobile platform is controlled first, and then the movement of the manipulator; or the movement of the manipulator is controlled first, and then the movement of the mobile platform, so that the mobile platform and the manipulator cannot be coordinated at the same time control

Method used

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  • QP unified and coordinated motion describing and programming method for movable manipulator
  • QP unified and coordinated motion describing and programming method for movable manipulator
  • QP unified and coordinated motion describing and programming method for movable manipulator

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specific Embodiment 1

[0019] figure 2 It is shown that the mobile mechanical arm realizing the present invention is a three-dimensional two-wheel driven mobile mechanical arm. The mechanical arm is composed of six connecting rods, which are connected by joints 5, 6, 7, 8, 9 and 10. The mobile platform comprises two drive wheels: a left drive wheel 11 and a right drive wheel 12 . In the patent example of the present invention, the initial angle of the joints 5-10 of the manipulator is set to [0, π / 3, π / 6, π, π / 2, 0] T Radian, the initial angle of left drive wheel 11 and right drive wheel 12 is set to [0,0] T Radians, that is, q(0)=[0,0,0,π / 3,π / 6,π,π / 2,0] T , the upper and lower limits of the joint angle are set to q ± =[±∞,±∞,±0.5236,±2.3562,±6.2832,±6.2832,±6.2832,±6.2832] T Radian, the upper and lower limits of the combined speed are set to q · ± = [ ± 30.0 ...

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Abstract

The invention provides a QP (Quadratic Programming) unified and coordinated motion describing and programming method for a movable manipulator. The method comprises the following steps: (1) a QP unified and coordinated redundancy resolution scheme is established for the movable manipulator, the minimum performance index designed by the resolution scheme is a quadratic function of a combined velocity vector of a movable platform and the manipulator and is restricted by a unified description equation, a combined velocity limit and a combined angle limit of the movable platform and the manipulator; (2) the QP unified and coordinated redundancy resolution scheme in the step (1) is solved by a QP solver; and (3) the solvent result of the step (2) is sent to a lower-computer controller so as to drive the movable platform and the manipulator to simultaneously finish given tail-end tasks in a coordinated manner. The QP unified and coordinated motion describing and programming method has the characteristic that through unified describing and programming of the movable platform and the manipulator, both the movable platform and the manipulator of the movable manipulator are controlled to move simultaneously in a coordinated manner so as to finish given tail-end tasks.

Description

technical field [0001] The invention relates to the field of motion planning and control of a mobile manipulator, and more specifically, relates to a unified and coordinated QP (quadratic programming) method for describing and planning the motion of a mobile manipulator. Background technique [0002] The mobile robotic arm is composed of a mobile platform and a mechanical arm fixed on the mobile platform. Compared with the fixed platform manipulator, the mobile manipulator has both the large-range mobility of the mobile platform and the operability of the manipulator, so it has received extensive attention and research. However, the combination of the mobile platform and the fixed manipulator creates a new problem: how to coordinate and control the motion of the mobile platform and the manipulator at the same time? As far as the general planning scheme is concerned, either the movement of the mobile platform is controlled first, and then the movement of the manipulator; or ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J9/02
Inventor 张雨浓肖林金龙
Owner SUN YAT SEN UNIV
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