Method for planning repetitive motion of redundant manipulator based on new numerical solver
A numerical solution and repetitive motion technology, applied in manipulators, program-controlled manipulators, instruments, etc., can solve problems such as difficult digital motor drive and control, and achieve the effect of reducing difficulty and simplifying the control process.
Inactive Publication Date: 2017-08-18
SOUTH CHINA UNIV OF TECH
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The invention provides a method for planning repetitive motion of a redundant manipulator based on a new numerical solver. The method comprises the following steps of 1) taking a repetition performance index as a minimum performance index, and planning and designing repetitive motion of a redundant manipulator as a quadratic programming problem; 2) converting the quadratic planning problem in step 1) into a piecewise linear projection equation; 3) solving the piecewise linear projection equation in step 2) with a new numerical solver; and 4) transmitting the solution result in step 3) to a lower motor so as to drive a manipulator to move. According to the method for planning the repetitive motion of the redundant manipulator based on the new numerical solver, planning of the repetitive motion of the redundant manipulator is performed by adopting the new numerical solver based on the sectional piecewise linear projection equation so as to ensure that the manipulator can perform the repetitive motion without deviation; and a solving result is a discrete numerical, so that the difficulty for computer control and motor drive is reduced, and a control process is simplified.
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