Trajectory control method for redundant mechanical arm

Abstract

The invention provides a trajectory control method for a redundant mechanical arm. The method takes a redundant mechanical arm kinematic solving method of a configuration plane as the basis, deduces a speed distribution method of the configuration plane, determines the redundant mechanical arm movement locus planning process of speed distribution based on the configuration plane, deduces the key steps of movement planning: working configuration determination, spatial obstacle avoidance and speed distribution in the configuration plane, can meet the requirements of complex spatial obstacle avoidance, solves the indeterminacy of tail end point locus of the mechanical arm between spatial interpolation points, and can achieve a good movement locus. The invention solves a difficulty of inverse solution of a redundant mechanical arm, is advantageous in high calculation speed and high solving precision, and meets the demands of actual tasks and environment for the locus movement operation of the redundant mechanical arm.

Description

technical field [0001] The invention relates to a motion planning method of a redundant mechanical arm, which can realize the controllability of the motion trajectory of the redundant mechanical arm and reduce motion errors. Background technique [0002] Redundant manipulators have extra degrees of freedom in spatial movement, and have great advantages in spatial obstacle avoidance and motion planning, and have become a hot spot in the field of robotics research. Many research institutions at home and abroad have carried out research on this, and obtained many research methods. Many experts have proposed many methods in terms of motion control of redundant manipulators. The free space method based on C space establishes C space with the joint coordinate system of the manipulator, maps obstacles to C space, forms space configuration obstacles, and obtains the complement of C space, that is, free space. On this basis, the heuristic search algorithm is used to find the motion...

AI Technical Summary

Problems solved by technology

[0005] (1) The basis of the trajectory planning method is the inverse kinematics solution method of the redundant manipulator, so this method relies on the topology structure of the redundant manipulator, and the algorithm needs to be readjusted during the planning process, which is not general

[0006] (2) The objective function is used as the optimization target for genetic optimization, ignoring the dynamic effects of some local trajectory planning, which will cause unreasonable movement of a certain area, uneven overall load borne by a joint, and work at full load or full speed. There are local defects in the whole trajectory movement process

[0007] (3) The movement of the movement track between the interpolation points is not controllable, and the movement overshoot and error are relatively large

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