Redundancy dual-mechanical-arm multi-index coordinate exercise planning method

A dual-arm, coordinated motion technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as not being able to meet the needs in specific situations, and achieve the effect of improving work efficiency

Active Publication Date: 2017-02-22
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

However, the current quadratic optimization method only considers single-index opt

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  • Redundancy dual-mechanical-arm multi-index coordinate exercise planning method

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Embodiment Construction

[0016] The present invention will be further described below in conjunction with the accompanying drawings.

[0017] figure 1 The shown redundant dual manipulator multi-index coordinated motion planning method mainly consists of the target problem, the multi-index quadratic optimization scheme of the left manipulator, the multi-index quadratic optimization scheme of the right manipulator, and the quadratic optimization scheme of the left manipulator. The programming problem and the quadratic programming problem of the right manipulator, the unified quadratic programming problem, the simplified linear variational inequality-based primal dual neural network solver, the lower computer controller and the dual (left and right) manipulators.

[0018] Firstly, based on the objective problem, a quadratic optimization scheme is adopted, and the respective inverse kinematics solutions of the left and right manipulators are designed to minimize with in subject to subject to ...

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Abstract

The invention discloses a redundancy dual-mechanical-arm multi-index coordinate exercise planning method. The method includes the steps that (1) based on a target problem, quadric form prioritization schemes are adopted for an upper computer to conduct inverse kinematics analysis on double mechanical arms on the speed layer, designed performance indexes are formed by the weighted array of three indexes including a minimum velocity two-norm, repeating motion and a minimum velocity infinite norm, and the performance indexes are limited to the kinematical equations, the joint angle extremities and the joint angle velocity extremities of the double mechanical arms correspondingly; (2) the quadric form prioritization schemes of the double mechanical arms in the step (1) are converted into standard quadratic programming problems; (3) the quadratic programming problems of the double mechanical arms in the step (2) are unified into one quadratic programming problem; (4) the unified quadratic programming problem in the step (3) is solved with a simplified original dual neural network solver based on the linear variational inequality; and (5) a solving result in the step (4) is transmitted to a lower computer controller to drive the double mechanical arms to move.

Description

technical field [0001] The invention belongs to the motion planning method of redundant manipulators and multi-manipulators, and in particular relates to multi-index coordination of redundant dual manipulators based on joint angular velocity layer control, multi-index optimization, and coordinated work of two manipulators Motion Planning Methods. Background technique [0002] A redundant manipulator is a terminally active mechanical device with degrees of freedom greater than the minimum required to complete a task. The redundant manipulator can also complete some secondary tasks while completing the main task at the end, such as avoiding obstacles, avoiding joint limits, avoiding singular points, and optimizing other objective functions. It can complete tasks including welding, painting, assembly, excavation, and drawing, and is widely used in national economic production activities such as equipment manufacturing, product processing, and machine operations. Traditional r...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1643B25J9/1664B25J9/1669B25J9/1682
Inventor 张智军林裕峻
Owner SOUTH CHINA UNIV OF TECH
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