Redundant mechanical arm moving obstacle avoiding algorithm

Abstract

The invention provides a redundant mechanical arm moving obstacle avoiding algorithm. According to the algorithm, the relative position relationship of a redundant mechanical arm and a moving obstacle is used to obtain a prediction collision point of the obstacle relative to each rod element of the mechanical arm; then, the shortest prediction distance obtained by using the moving speed of the obstacle is used, and in addition, the avoiding speed of each rod element is obtained according to the relationship between the distance value and the safety threshold; the avoiding speed is converted into an angle speed variable corresponding to each joint of the mechanical arm by a Jacobian transpose matrix, finally, the angle speed variable is introduced into a gradient projection method to obtain the angle speed of each joint, and the avoiding on the moving obstacle is realized. The algorithm provided by the invention has the advantages that the accurate tracking on the tail track of the mechanical arm is ensured, the avoidance on the moving obstacle is realized, and the important significance is realized on improving the safety of an industrial mechanical arm.

Description

technical field [0001] The invention proposes a planning method for an industrial manipulator, and specifically relates to an obstacle avoidance algorithm for moving obstacles of a redundant manipulator. Background technique [0002] A redundant manipulator refers to a manipulator with redundant degrees of freedom in motion. Compared with ordinary manipulators, redundant manipulators have more flexible motion characteristics, and can complete additional tasks such as obstacle avoidance and preventing joint angle exceeding the limit while completing the task of tracking the end trajectory. The obstacle avoidance problem of redundant manipulators has always been one of the research hotspots in the field of industrial robotics. Many scholars have proposed artificial potential field method, neural network method, minimum distance method and other methods to solve the obstacle avoidance problem of redundant manipulators. These methods It can only solve the obstacle avoidance pro...

AI Technical Summary

Problems solved by technology

The obstacle avoidance problem of redundant robotic arms has always been one of the research hotspots in the field of industrial robots. Many scholars have proposed methods such as artificial potential field method, neural network method, and minimum distance method to solve the obstacle avoidance problem of redundant robotic arms. These methods It can only solve the obstacle avoidance problem of the redundant manipulator to the stationary obstacle, but in the actual situation, the threat of the moving obstacle to the manipulator is greater, and the previous method cannot solve this problem

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