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An inverse kinematics configuration optimization method for a seven-degree-of-freedom humanoid manipulator under multi-constraint conditions

A technology of configuration optimization and inverse kinematics, applied in the direction of manipulators, program-controlled manipulators, instruments, etc., can solve problems such as the reduction of end-reachable positions, easy jumps in motion, and inability to meet multi-constraint conditions.

Active Publication Date: 2019-02-15
HEFEI HEBIN INTELLIGENT ROBOTS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention aims to solve the problems that the existing position-based inverse kinematics method cannot fully describe the available arm configuration of the humanoid manipulator, the reachable position of the end is reduced, the movement is easy to jump, and the anthropomorphic arm configuration cannot be obtained under multi-constraint conditions. , a method for inverse kinematics anthropomorphic arm configuration optimization of a seven-degree-of-freedom humanoid manipulator under multi-constraint conditions is proposed

Method used

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  • An inverse kinematics configuration optimization method for a seven-degree-of-freedom humanoid manipulator under multi-constraint conditions
  • An inverse kinematics configuration optimization method for a seven-degree-of-freedom humanoid manipulator under multi-constraint conditions
  • An inverse kinematics configuration optimization method for a seven-degree-of-freedom humanoid manipulator under multi-constraint conditions

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Embodiment 1

[0073] Embodiment one: combine below Figure 2 to Figure 7 This embodiment will be described in detail. The inverse kinematics anthropomorphic arm configuration optimization method for a seven-degree-of-freedom humanoid manipulator under multi-constraint conditions described in this embodiment includes an available arm configuration description part and an anthropomorphic arm configuration redundant solution optimization part;

[0074] Available arm configuration description sections include:

[0075] Step 1. Calculating the self-motion range of the humanoid manipulator that satisfies the joint limit condition according to the motion track of the end effector of the humanoid manipulator;

[0076] The specific process of this step is:

[0077] Establishing a three-dimensional base coordinate with the second joint as the coordinate origin, specifying the expected position and expected posture of the end effector of the humanoid manipulator relative to the three-dimensional bas...

Embodiment 2

[0213] Embodiment 2: This embodiment further limits the inverse kinematics anthropomorphic arm configuration optimization method for a seven-degree-of-freedom humanoid manipulator described in Embodiment 1.

[0214] In the inverse kinematics anthropomorphic arm configuration optimization method for a seven-degree-of-freedom humanoid manipulator under multi-constraint conditions described in this embodiment, step 6 can also be based on the movement data of the volunteer’s arm in a complex environment collected in real time by the motion capture system. Use the least squares theory to determine the relationship between the human arm and the arm angle, and map the relationship to the optimal arm angle region of the humanoid manipulator to select the anthropomorphic arm configuration;

[0215] Or step six can also determine the anthropomorphic arm configuration in the optimized arm angle region according to the energy minimum principle.

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Abstract

A method for optimizing inverse kinematic humanoid-arm configuration of a 7-freedom-degree humanoid mechanical arm under a multi-constraint condition belongs to the field of mechanical arm control. By the method, the problems the usable arm configuration of the humanoid mechanical arm cannot be completely described, the tail end reachable positions are reduced, motion is susceptible to jumping change and the humanoid arm configuration meeting the multi-constraint condition cannot be obtained in the existing position-based inverse kinematic method are solved. The method comprises the steps: calculating all the useable arm configuration sets avoiding joint limiting and collusion under the given track; performing operating ellipsoid optimization on all the useable arm configuration sets to obtain humanoid arm configuration; introducing transition between a mechanical arm self-motion processing unusable optimizing arm angle and an arm angle area; and transforming a problem of searching optimized joints from a seven-dimensional joint space constrained by six equations and a plurality of inequations into a one-dimensional optimizing problem. The method is used for optimizing the humanoid arm configuration of the 7-freedom-degree humanoid mechanical arm.

Description

technical field [0001] The invention relates to an inverse kinematics anthropomorphic arm configuration optimization method of a seven-degree-of-freedom humanoid manipulator under multi-constraint conditions, belonging to the field of manipulator control. Background technique [0002] The seven-degree-of-freedom humanoid manipulator will be constrained by multiple constraints such as joint limit, surrounding environment, self-collision and dynamic balance in the process of performing tasks. How to obtain the optimal redundant solution that satisfies the above constraints at the same time is The important problem that needs to be solved urgently in the field of seven-degree-of-freedom manipulator kinematics is also a difficult point in the research of manipulator kinematics. [0003] At present, many research institutions at home and abroad have conducted research on the inverse kinematics of the seven-degree-of-freedom humanoid manipulator under multi-constraint conditions. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16G06F17/50
CPCB25J9/1605B25J9/1643B25J9/1664G06F30/17
Inventor 夏晶马宏伟赵建刘鹏王川伟尚万峰薛旭升
Owner HEFEI HEBIN INTELLIGENT ROBOTS CO LTD