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
CN104097205AActive Publication Date: 2014-10-15TONGJI UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
TONGJI UNIV
Publication Date
2014-10-15

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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.
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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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