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Humanoid robot motion planning parameter optimization method based on FPGA

An optimization method and robot technology, applied in the direction of instruments, manipulators, program-controlled manipulators, etc., can solve problems such as ignoring complexity, achieve the effect of improving hardware working speed and saving computing hardware resources

Active Publication Date: 2016-12-14
NINGBO UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] There are various problems and algorithms in the motion planning of existing humanoid robots. At present, the motion planning of humanoid robots generally uses CPU for software algorithms to control the robot offline. The accuracy of the algorithm is emphasized, and the complexity is ignored.

Method used

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  • Humanoid robot motion planning parameter optimization method based on FPGA
  • Humanoid robot motion planning parameter optimization method based on FPGA
  • Humanoid robot motion planning parameter optimization method based on FPGA

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Embodiment Construction

[0032] The following are specific examples of the present invention to further describe the technical solutions of the present invention, but the present invention is not limited to these examples.

[0033] The existing humanoid robot motion planning uses the CPU to carry out software algorithms to control the robot offline. Although the algorithm has high precision, the complexity is also high. But software algorithms cannot be directly transformed into reconfigurable hardware modules.

[0034] As a reconfigurable hardware device, FPGA is often used in the fields of computer and industrial control. In the field of robot control, the German Aerospace Center has successfully developed the FPGA-based DLR II robot hand with 13 degrees of freedom, and the Robotics Research Institute of Harbin Institute of Technology has successfully developed the humanoid four-finger robot dexterous hand HIT / DLRI, Compared with traditional software implementation, performance and efficiency have ...

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Abstract

The invention discloses a humanoid robot motion planning parameter optimization method based on a FPGA. The method is characterized by comprising the steps that a fixed-point model of humanoid robot motion planning parameters is established; and a reconfigurable computing system structure is designed according to the fixed-point model, and the coarse and fine granularity reconfigurable unit speed-up ratio is provided. An algorithm model is optimized according to the characteristics of a FPGA platform so that computing hardware resources can be saved, hardware working speed can be enhanced and the humanoid robot motion planning parameters are enabled to have the optimal control algorithm.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method for optimizing motion planning parameters of a humanoid robot. Background technique [0002] In many fields of modern science and technology, automatic control technology plays an increasingly important role. The so-called automatic control refers to the use of external equipment and devices to make a certain working state or parameter of a machine, equipment or production process automatically operate according to a predetermined law without the direct participation of people. In recent decades, with the development and application of computer technology, modern control theory has appeared in high-tech fields such as space navigation, robot control, missile guidance and nuclear power. It mainly studies the optimal control problem of multi-variable variable parameter systems with high performance and high precision, and the main method used is the state-space meth...

Claims

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Application Information

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IPC IPC(8): G05B13/04B25J9/16
CPCB25J9/1656G05B13/042
Inventor 安鹏钟秋波
Owner NINGBO UNIVERSITY OF TECHNOLOGY
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