Novel acceleration layer repetitive motion planning method for redundant manipulator

Abstract

The invention provides a novel acceleration layer repetitive motion planning method for a redundant manipulator. The novel acceleration layer repetitive motion planning method for the redundant manipulator comprises step one, designing novel quadratic form acceleration layer repetitive motion performance indexes to form into a quadratic form optimizing redundancy analysis scheme; step two, transforming the quadratic form optimizing redundancy analysis scheme in the step one into a QP (Quadratic Programming); step three, solving the QP in the step two through a QP solver; and step four, passing on a solved result in the step three to a lower computer controller to drive the manipulator to perform movement. The novel acceleration layer repetitive motion planning method for the redundant manipulator has the advantages of overcoming limitations of original parameter selection, being capable of selecting positive design parameters in a wide range, remarkably increasing selectable schemes of the repetitive motion planning of redundancy and having a good prospect in the engineering application field.

Description

technical field [0001] The invention relates to the field of motion planning and control of redundant manipulators, in particular to an inverse kinematics solution method of redundant manipulators. Background technique [0002] The redundant manipulator has the characteristic that the degree of freedom is greater than the minimum degree of freedom required by the task space, and is widely used in national economic production activities such as equipment manufacturing, product processing, and machine operations. 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. When the task at the end of the redundant manipulator is a closed curve, each joint may not be able to return to the initial position. This phenomenon is called the joint angle deviation phenomenon, or non-repetitive motion problem. If the redundant manipulator cannot achieve repetitive motion , the...

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Problems solved by technology

[0003] Most of the previous repetitive motion analysis methods are carried out on the velocity layer, and the obtained result is the velocity value, which cannot meet the requirements of some redundant manipulators with non-speed control, and the solution method on the velocity layer does not consider Acceleration limit, the mechanical arm may be physically damaged due to exceeding the acceleration limit during the movement

The inventor team's previous invention "A Method for Planning Repeated Motion of Redundant Manipulators" (Application No.: 201010264141.6) is a repetitive motion analysis method of acceleration layer, which can overcome the above-mentioned redundant mechanical control of velocity layer. The defect of the arm, however, this invention scheme is single, can not meet the demand of the parameter selection of different types of acceleration layer repetitive motion schemes in practical application

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