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An Initialization Method for Motion Planning of Acceleration Layer of Redundant Manipulator

An initialization method and motion planning technology, which are applied in manipulators, program-controlled manipulators, special data processing applications, etc., can solve the problems of inaccurate and cumbersome task execution position measurement or adjustment, affecting the normal/successful completion of the manipulator, and achieve work The effect of small volume, convenient operation and standardized operation

Active Publication Date: 2017-10-20
HUAQIAO UNIVERSITY
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  • Description
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  • Application Information

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Problems solved by technology

However, this approach is quite cumbersome and has shortcomings: every time the task operation position is changed, it may be necessary to measure the angles of each joint multiple times so that the mechanical arm can accurately reach the position where it performs the task; and the task execution position measurement or adjustment Inaccuracies will also affect the normal / successful completion of the required tasks by the robotic arm

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  • An Initialization Method for Motion Planning of Acceleration Layer of Redundant Manipulator
  • An Initialization Method for Motion Planning of Acceleration Layer of Redundant Manipulator
  • An Initialization Method for Motion Planning of Acceleration Layer of Redundant Manipulator

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Embodiment Construction

[0015] An initialization method for motion planning of the acceleration layer of a redundant manipulator mainly consists of adjusting the redundant manipulator to its limit position, an acceleration layer position adjustment scheme, a numerical algorithm solver, a lower computer controller, and turning the redundant manipulator to the Task execution location composition.

[0016] First start the controller of the manipulator, adjust the redundant manipulator to its limit position; then set the limit position as the starting value, and set the task execution position of the manipulator as the end value, so as to establish a quadratic optimization description Acceleration layer position adjustment scheme; then construct the corresponding numerical algorithm to solve the acceleration layer position adjustment scheme; finally, the solution result is used to drive the mechanical arm to rotate from the limit position to the task execution position.

[0017] Based on the idea of ​​mi...

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Abstract

The invention provides an initialization method for acceleration layer motion planning of a redundant manipulator. The method comprises the steps that the redundant manipulator is adjusted to the limiting position; the limiting position serves as a start value, a task execution position of the manipulator is set to serve as a stop value, and an acceleration layer position adjustment scheme based on quadratic optimization description is established; the acceleration layer position adjustment scheme is solved through a numerical algorithm; by means of the solving result, the manipulator is driven to move from the limiting position to the task execution position. The initialization method for acceleration layer motion planning of the redundant manipulator has the advantages of being convenient to operate, small in workload and normative in operation.

Description

technical field [0001] The invention relates to the field of motion planning of acceleration layers of redundant manipulators, in particular to an initialization method for motion planning of acceleration layers of redundant manipulators. Background technique [0002] Redundant manipulator is a mechanical device with active end, and its degree of freedom is more than the minimum degree of freedom required to perform end tasks; it has been widely used in national economic production activities such as equipment manufacturing, product processing, and machine operations. When the redundant robotic arm performs tasks at different positions in the workspace, it often needs to move from the current position to the execution position of the next task after completing a task. Generally speaking, the movement of the redundant robotic arm from the current position to the execution position of the next task is achieved by slowly rotating each joint of the robotic arm and continuously a...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00B25J9/16G06F19/00
Inventor 郭东生聂卓赟晏来成金福江
Owner HUAQIAO UNIVERSITY