Method for constructing motion space for robot under inherent constraints

A technology of robot motion and inherent constraints, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve the problems of low robot positioning accuracy, inaccurate and incomplete construction of robot motion space, etc.

Active Publication Date: 2015-02-04
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Generally, the positioning accuracy of robot grasping is not high, and repeated positioning is often required. One of the main factors affecting its positioning accuracy is that th

Method used

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  • Method for constructing motion space for robot under inherent constraints
  • Method for constructing motion space for robot under inherent constraints
  • Method for constructing motion space for robot under inherent constraints

Examples

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Embodiment 1

[0031] like figure 2 shown, for figure 1 In the workspace grid, solve and describe the workspace that only uses the arm joint space, and the detailed process of solving the workspace by Monte Carlo method, that is, the method of constructing the robot motion space under the inherent constraints, the method includes the following steps:

[0032] Step S1: Taking the supporting foot as the origin of coordinates, introduce the kinematics of the floating body to the base coordinate system of the robot body, such as X E =f(θ F , θ E ), establish a joint chain and kinematics model based on the joints of the whole body, the end effector of the robot is not only related to the joint from the end to the center of mass, but also affected by the joint from the center of mass to the supporting foot, such as image 3 , 4 shown.

[0033] Step S2: Based on the joint chain and kinematics model, introduce joint angle constraints and stability constraints, and use the Monte Carlo method to...

Embodiment 2

[0042] The robot workspace under complex whole-body motion is solved. The representative Monte Carlo method in the numerical method is used to solve the point set in the workspace, and various inherent constraints such as the joint range constraints of each joint of the robot under the whole body motion will be introduced to discuss the complexity of satisfying these constraints. The scope of the workspace for the situation. The implementation steps are the same as those in Embodiment 1, and the solution object is the working space range of each joint of the robot under the inherent constraints.

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Abstract

The invention relates to a method for constructing a motion space for a robot under inherent constraints. The method is characterized in that the method includes: (Step S1) with supporting legs as an origin of coordinates, floating body kinematics is introduced into a body base coordinate system to create a joint chain and kinematic model based on the joints of the whole body; (Step S2) on the basis of the joint chain and kinematic model, a joint angle range constraint and a stability constraint are introduced, and the Monte Carlo method is utilized to sample and solve a working space for the end actuators of the robot, so that a three-dimensional point cloud grid formed by the working space is obtained; (Step S3) on the basis of the three-dimensional point cloud grid, plane cutting is carried out, and by means of extreme value analysis, the extreme value state and position and posture diagram of the robot in each direction are obtained. In comparison with the prior art, with the solution of the working space of the robot under the complex motion of the whole body as a goal, the method obtains the boundary range of the working space of end tracks under a complex condition meeting inherent constraints on the basis of the numerical algorithm.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method for constructing a robot motion space under inherent constraints. Background technique [0002] A common task of humanoid robots in daily use is to grasp objects with arms and hands, and a related issue is the range or space that the robot can encounter. In these tasks, whether the robot's operator can touch the target object is a question that must be answered. like figure 1 In the judgment process, if the object is within the reach of the hand, the robot can directly execute the grasping behavior to complete the task, otherwise, the robot needs to move or walk so that the reachable space of the robot arm contains the target object. [0003] The robot workspace is the Cartesian space that the end effector can reach under the constraints, which is the set of points that can be reached by a point on the robot end member. The size of the robot's working space represents the...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605
Inventor 陈启军陈毅鸿刘成菊
Owner TONGJI UNIV
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