Task space based self-collision avoidance control method for real-time movements of robot

A technology of task space and avoidance control, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of large calculation time and unsuitable real-time motion planning, and achieve the effect of promoting field application and avoiding self-collision

Active Publication Date: 2014-10-15
TONGJI UNIV
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Problems solved by technology

[0004] However, most of the current research on self-collision focuses on learning methods. This type of method requires a lot of computing time for the high-dimensional configuration space (C-Space) of humanoid robots due to the high degree of freedom of the joints, and is not suitable for real-time motion planning

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  • Task space based self-collision avoidance control method for real-time movements of robot
  • Task space based self-collision avoidance control method for real-time movements of robot
  • Task space based self-collision avoidance control method for real-time movements of robot

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Embodiment

[0021] A real-time motion self-collision avoidance control method for a robot based on task space, the method includes tracking the end trajectory of the robot, and the specific steps are as follows figure 1 Shown:

[0022] 1) According to the three-dimensional geometric information of the robot, use the bounding volume to model, divide the body of the robot into different area blocks, and perform self-collision detection on the area pairs formed by every two area blocks,

[0023] Among them, self-collision detection includes the following steps:

[0024] 11) According to the three-dimensional geometric information of the robot, use the bounding volume to model, and divide the robot's body into N regional blocks Such as figure 2 shown. Then define any two region blocks from the N region blocks as a region pair In this way, detecting whether the robot has self-collision can be defined as detecting whether the distance between each area pair is less than the threshold val...

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Abstract

The invention relates to a task space based self-collision avoidance control method for real-time movements of a robot. The method comprises the step of tracking an end trajectory of the robot and specifically comprises the following steps: (1) modeling by using a bounding volume according to three-dimensional geometric information of the robot, dividing a body of the robot into different region blocks, and carrying out self-collision detection on region pairs which are formed by every two region blocks; (2) if the condition that the region pairs can be subjected to self-collision is detected, creating a self-collision avoiding task, which is used for adjusting a movement trajectory, in a task space; (3) simultaneously completing the self-collision avoiding task and an end trajectory tracking task. Compared with the prior art, the method has the advantages that the occurrence of self-collision can be avoided during the real-time movement planning of the robot, and the field application of the robot is promoted.

Description

technical field [0001] The invention relates to a robot control method, in particular to a task space-based robot real-time motion self-collision avoidance control method. Background technique [0002] With the development of robot technology, the application field of robots has also begun to expand from the traditional factory manufacturing field to home, hospital, elderly care center, military, tourism, transportation, exploration, emergency rescue and disaster relief and other on-site and service fields. During the long development of human society, the environment of human daily life has been gradually transformed to suit human sensory and behavioral characteristics, which requires intelligent robots that coexist with and serve human beings to be able to imitate human appearance and behavior to handle affairs. Since the birth of the first bipedal walking robot WAP-1 in the early 1970s, bipedal walking robot technology has been one of the hot research topics, and people h...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 陈毅鸿陈启军
Owner TONGJI UNIV
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