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

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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Problems solved by technology

However, the current quadratic optimization method only considers single-index optimization or dual-index optimization, which cannot meet the needs in specific cases

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