Barrier escaping motion planning method based on impact degree

Abstract

The invention discloses a barrier escaping motion planning method based on an impact degree. The method comprises the steps of 1) designing barrier escaping motion performance indices based on the impact degree so that the designed motion performance indices are subject to a Jacobian matrix equation based on the impact degree, a barrier escaping inequation based on the impact degree, joint angle limitation, joint speed limitation, joint acceleration limitation and joint impact degree limitation, and generating a quadratic form optimization redundancy analysis scheme, 2) transforming the quadratic form optimization redundancy analysis scheme generated in the step 1) into a secondary planning problem, 3) solving the secondary planning problem in the step 2) by use of a secondary planning solver, and 4) transferring the solution result of the step 3) to a lower computer controller to drive a mechanical arm to move. According to the barrier escaping motion planning method, the barrier escaping motion performance indices based on the impact degree are designed, the mechanical arm is controlled to escape a barrier at an impact degree layer, and meanwhile, the mechanical arm is capable of completing a given tail end task.

Description

technical field [0001] The invention relates to the field of motion planning and control of redundant manipulators, in particular to an obstacle avoidance motion planning method based on jerk (derivative of acceleration, Jerk). Background technique [0002] A redundant manipulator is a manipulator with a number of degrees of freedom greater than the minimum number of degrees of freedom required to perform tasks, and is widely used in various national economic production activities. Redundancy analysis is an important issue in operating redundant manipulators, that is, according to different optimization performance indicators and secondary tasks, the optimal position and posture of each joint of the manipulator are determined through the end position and attitude of the redundant manipulator. Angle problem. The secondary tasks of redundant manipulators include obstacle avoidance, joint limit angle avoidance, and repetitive motion, which are usually described as equality con...

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Problems solved by technology

However, this cannot meet the requirements of some redundant manipulators with jerk control, and it cannot take jerk limits into account, which may cause the manipulator to exceed the jerk limit during motion

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