Robot trajectory planning method based on fourth-order cubic B-spline function and humanoid robot platform

A technology of humanoid robot and spline function, which is applied in the direction of manipulator, program control manipulator, manufacturing tools, etc., which can solve the problems of reducing service life and so on

Inactive Publication Date: 2017-09-01
GUANGDONG UNIV OF TECH
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Problems solved by technology

Sudden movement requires great power, and the motor cannot provide such a large amount of energy due to physical limitations, which will cause wear and tear on the robot's joints and reduce its service life

Method used

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  • Robot trajectory planning method based on fourth-order cubic B-spline function and humanoid robot platform
  • Robot trajectory planning method based on fourth-order cubic B-spline function and humanoid robot platform
  • Robot trajectory planning method based on fourth-order cubic B-spline function and humanoid robot platform

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Embodiment Construction

[0058] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a robot trajectory planning method and a humanoid robot platform based on a fourth-order cubic B-spline function.

[0059] Wherein, a robot trajectory planning method based on a fourth-order cubic B-spline function comprises the following steps:

[0060] Step 1: Define a B-spline function, and derive the mathematical model of the B-spline function through the defined B-spline function;

[0061] Step 2: Solve the expression of the fourth-order cubic B-spline function: through the defined B-spline function, first assume the expression of the fourth-order cubic B-spline function, through its boundary conditions and the first-order, second-order, and third-order reciprocals All must be connected at the shape-value point, and twelve conditions can be obtained to solve the parameter solution of the fourth-order cubic B-spline function, thereby obtaining the expr...

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Abstract

The invention provides a robot trajectory planning method based on a fourth-order cubic B-spline function, and a humanoid robot platform. Through the method, specific movements required by various joints are planned, a complete trajectory generation control system is established, and stable control on a humanoid robot under a ZMP stable condition is ensured. The trajectory planning part of the method comprises the steps of construction of a B-spline function, mathematical model deduction of the B-spline function, solution of the fourth-order cubic B-spline function, and densification of a joint trajectory. After an expected trajectory is derived, corresponding movement functions are edited to a raspberry Pi system according to to-be-solved data points, corresponding instructions are sent through smartphone application software to call the corresponding movement functions to complete the expected planning trajectory. With the adoption of the fourth-order cubic B-spline function for planning the movement trajectory, no sharp corner problem is caused at places between adjacent joints, vibration of a joint mechanical arm is avoided, and the stability of the humanoid robot in a movement process is improved.

Description

technical field [0001] The invention relates to the technical field of joint trajectory planning and control of humanoid robots, in particular to a robot trajectory planning method based on a fourth-order cubic B-spline function and a humanoid robot platform. Background technique [0002] With the development of service robots, various research institutions, colleges and universities, and robot manufacturers at home and abroad have researched and manufactured service robot products suitable for daily use. Among them, humanoid robots, as one of the hot spots, have received special attention. Scholars from Japan, the United States and other countries have carried out extensive and in-depth research in the field of humanoid robots, and have achieved many theoretical and practical results. Dynamic walking, from offline planning to real-time control, from walking on flat ground to walking on slopes and stairs, from simple biped walking mechanism to the development of humanoid rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 刘治赵仁成章云
Owner GUANGDONG UNIV OF TECH
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