Method for planning repetitive motion of redundant manipulator based on new numerical solver

Abstract

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.

Description

technical field [0001] The invention belongs to a redundant mechanical arm repetitive motion planning method, in particular to a redundant mechanical arm repetitive motion planning method that uses a novel numerical solver to solve, discretize the solution result, and reduce control difficulty. Background technique [0002] Robotic arms are usually divided into non-redundant robotic arms and redundant robotic arms. Because there are more degrees of freedom, the redundant manipulator can perform additional work in addition to the main work of the end effector, such as obstacle avoidance, joint limit avoidance and singular state avoidance. In industrial production activities, the robotic arm is often required to perform repetitive production operations. This type of repetitive motion requires the robotic arm to return to the initial state after the robotic arm completes a cycle of motion. If it fails to return to the initial state, the mechanical arm will have accumulated err...

AI Technical Summary

Problems solved by technology

However, most of the solution methods used in the existing redundant robotic arm motion planning methods are time-continuous solutions, which are difficult to be directly applied to the drive and control of digital motors.

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