Six-degree-of-freedom mechanical arm track planning method with force restriction taken into consideration

Abstract

The invention belongs to the field of mechanical arm track planning with force restriction taken into consideration, and particularly relates to a six-degree-of-freedom mechanical arm track planning method with force restriction taken into consideration. The method comprises the steps that (1) force restriction is converted into restriction of contact deformation and contact kinematic velocity; (2) the mechanical arm kinematic velocity of dynamic contact impact is optimized; and (3) track planning is conducted based on force restriction. According to the six-degree-of-freedom mechanical arm track planning method with force restriction taken into consideration, the force restriction is converted into restriction of contact deformation and contact kinematic velocity; then according to contact kinematics, an optimization method for the mechanical arm kinematic velocity with the dynamic contact impact taken into consideration and a continuous track planning method with contact deformation taken into consideration and based on different contact edges are researched; and the optimization method and the continuous track planning method are new methods for mechanical arm track planning with force restriction taken into consideration. According to the six-degree-of-freedom mechanical arm track planning method with force restriction taken into consideration, the situation that the contact impact process of the tail end of a mechanical arm and an outer environment is completed in a super short time, great instant impact is generated, and contact force is made to exceed a safety range is avoided.

Description

technical field [0001] The invention belongs to the field of robotic arm trajectory planning, in particular to a trajectory planning method for a six-degree-of-freedom robotic arm considering force constraints. Background technique [0002] The trajectory planning of the robot arm refers to the movement of the robot arm from the initial position and attitude to the desired position and attitude according to a certain speed and acceleration within a specified time. The trajectory planning of the manipulator considering the force constraint is to make the manipulator achieve the desired trajectory under the constraint of the desired force. There are many methods for robotic arm trajectory planning based on force constraints, such as 4-3-4 trajectory, 3-5-3 trajectory, and 5-segment 3-order trajectory. A Cartesian path oriented to joint space loses some samples. [0003] The method proposed in the present invention is aimed at a typical type of six-degree-of-freedom manipulat...

AI Technical Summary

Problems solved by technology

There are many methods for manipulator trajectory planning based on force constraints, such as 4-3-4 trajectory, 3-5-3 trajectory, and 5-segment 3-time trajectory.

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