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.
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[0025] The present invention will be further described below with reference to the accompanying drawings, but the implementation and protection of the present invention are not limited thereto.
[0026] figure 1 The overall process shown is mainly composed of the quadratic programming problem of repetitive motion of the redundant manipulator, the piecewise linear projection equation, the solution of the new numerical solver, and the motion of the manipulator driven by the lower computer. Firstly, the repetitive motion planning of the redundant manipulator is designed as a quadratic programming problem on the velocity layer, and then the quadratic programming problem is transformed into a piecewise linear projection equation, and then a new numerical solver is used to solve the piecewise linear projection equation, and finally Transfer the solution results to the lower computer to drive the motion of the robotic arm.
[0027] Figure 2a Shown is a redundant manipulator perfor...
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