A trajectory planning method for a flexible manipulator
A flexible robotic arm and motion trajectory technology, applied in the field of robotic arms
Active Publication Date: 2019-02-12
BOE TECH GRP CO LTD
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[0005] The present invention provides a track planning method for a flexible manipulator track, which does not depend on the mathematical model of the flexible manipulator, but dynamically adjusts the control parameters through a reinforcement learning algorithm, thereby providing a new method for solving the track planning problem of the flexible manipulator train of thought
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[0040] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0041] The invention provides a trajectory planning method of a flexible robotic arm, which does not depend on the mathematical model of the flexible robotic arm, but dynamically adjusts the control parameters through a reinforcement learning algorithm, thereby providing a new idea for solving the trajectory planning problem of the flexible robotic arm .
[0042] see figure 1 , a trajectory planning method for a flexible robotic arm pr...
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The invention discloses a flexible manipulator trajectory planning method. The method does not depend on a flexible manipulator mathematical model, control parameters are dynamically adjusted through a reinforcement learning algorithm, and a new idea is provided for solving the flexible manipulator trajectory planning problem. The flexible manipulator trajectory planning method comprises steps: according to the current pose and the expected pose of the flexible manipulator, a tracking error equation for the flexible manipulator movement trajectory is determined; according to the state of the flexible manipulator and the tracking error equation, a cost function for the flexible manipulator movement trajectory is determined; according to the cost function and a control policy on the flexible manipulator, a performance index function for the flexible manipulator movement trajectory is determined; the optimal control policy enabling the performance index function to be minimum is determined based on the reinforcement learning algorithm, and tracking on the expected movement trajectory is obtained.
Description
technical field [0001] The invention relates to the technical field of manipulators, in particular to a trajectory planning method for a flexible manipulator. Background technique [0002] Due to its advantages of high speed, low power consumption, and light weight, flexible robotic arms are increasingly used in manufacturing, aerospace and other fields. Therefore, the current research on flexible manipulators has received extensive attention. Trajectory planning of the manipulator is one of the important issues. The key is to calculate the expected movement trajectory of the manipulator according to the requirements of the job task. [0003] The most important thing about the existing trajectory planning algorithm is that the manipulator has a comprehensive perception ability to the environment, and the dependence on the state information of the working environment is relatively high. For example, when the existing genetic algorithm is used to plan the trajectory of the r...
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IPC IPC(8): G05B19/408
CPCG05B19/4083G05B2219/35356
Inventor 张勇
Owner BOE TECH GRP CO LTD