A method for finding the optimal hitting configuration of the humanoid manipulator arm flying ball

Abstract

The invention relates to a method for solving an optimal batting configuration for a flight ball body operation of a humanoid manipulator. The method comprises the following steps: (1) establishing a kinematic mathematic model, acquiring a tail end posture of the manipulator according to a position where the tail end is connected with a center of a racket and a Decare velocity vector of the racket, calculating and deducing an inverse solution of the manipulator and solving a geometrical expression; (2) searching a redundant variable in the model by adopting an improved teaching optimization algorithm, and taking the limiting degree away from the physical constraint of joints as a target function of the algorithm; (3) setting operating parameters of the improved teaching optimization algorithm; (4) obtaining an optimal redundant variable value in the model through a minimum target function of the improved teaching optimization algorithm; substituting the optimal redundant variable to the kinematic model to obtain the optimal batting configuration for the flight ball body operation of the manipulator. According to the method disclosed by the invention, the optimal natural configuration of the manipulator is obtained according to the position of the racket center and the Decare velocity vector of the racket, and the problem about the optimization of the manipulator to the connecting rod configuration in the ball body operation is solved; the method disclosed by the invention has the advantages of fewer parameters to be optimized, large limiting allowance of a solved joint angle away from the joint position.

Description

technical field [0001] The invention relates to robot technology, in particular to a method for obtaining the optimal ball-hitting configuration of a seven-degree-of-freedom humanoid manipulator facing high-speed flying sphere operations. Background technique [0002] If humanoid robots want to replace humans to complete various tasks, they must have humanoid robotic arms with human-like upper limb functions. When the 7-DOF manipulator of the humanoid robot performs some complex tasks, such as the high-speed flying sphere table tennis and baseball batting operations, there will be infinitely many sets of operating linkage configurations to meet the task requirements for the same target sphere , the performance requirements of different working linkage configurations on the manipulator will also vary greatly. Due to the design of the link mechanism and shape of the humanoid robotic arm, each joint has a physical constraint on the joint position. Work on the target sphere in...

AI Technical Summary

Problems solved by technology

Therefore, Yu Kunjie and others proposed a feedback-based elite teaching optimization method ("Acta Automatica Sinica" (2014, 40(9): 1976-1983)), which adds a feedback stage to the standard TLBO algorithm, and combines students with The feedback ideas between teachers exist in a series of stages with teachers and students, and then evaluate the individuals after the feedback stage; compared with the standard TLBO algorithm, the performance of this method has been improved, but the number of calculations of the fitness function of each generation of the algorithm has been increased , to increase the amount of computation

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