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Multi-axis motion planning optimizing method of mechanical arm passing through waypoints

An optimization method and multi-axis motion technology, applied in the field of automation, to achieve a wide range of application value and improve computing efficiency.

Active Publication Date: 2017-09-22
壹利特机器人科技(常州)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose a multi-axis motion planning optimization method for a manipulator passing through a path point to solve the problem of high-efficiency collision avoidance optimization of the manipulator in space

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  • Multi-axis motion planning optimizing method of mechanical arm passing through waypoints
  • Multi-axis motion planning optimizing method of mechanical arm passing through waypoints
  • Multi-axis motion planning optimizing method of mechanical arm passing through waypoints

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Embodiment Construction

[0060] The present invention will be further described below in conjunction with the accompanying drawings.

[0061] attached figure 1 Shown is a schematic diagram of the process of avoiding obstacles through the movement of multiple preset points of a multi-axis robotic arm fixed on the base.

[0062] The process described in this embodiment is based on a robot arm with m joints, each joint synchronously passes through the trajectory optimization process of n positions, and the trajectory between two position points in the joint space is set as a cubic spline curve, and its joint motion The trajectory equation is: q j (t)=a j +b j (t-t j )+c j (t-t j ) 2 +d j (t-t j ) 3 ,

[0063] Among them, t∈[t j ,t j+1 ],j=0,1,...,n-2,h j = t j+1 -t j .

[0064] The optimization method of the joint motion trajectory, such as figure 2 As shown, it specifically includes the following steps:

[0065] S1. Set the motion constraint equation at the path point, and establish ...

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Abstract

The invention discloses a multi-axis motion planning optimizing method of a mechanical arm passing through waypoints. The method comprises the following steps of establishing a continuous motion equation of the mechanical arm passing through the waypoints by setting a motion constraint equation in the waypoints; setting multiple constraint equations of motion of the mechanical arm, and building a fitness function; taking a time vector of the mechanical arm passing through the waypoints as a optimized objective, and solving an optimal motion time series through a global evolutionary iteration optimization algorithm; and substituting the optimal motion time series into a mechanical arm joint movement trajectory equation, and finally acquiring an optimal planning curve of the multi-axis continuous motion of the mechanical arm in the waypoints. According to the multi-axis motion planning optimizing method, the problem of the multi-axis continuous motion planning of the mechanical arm passing through the waypoints is effectively solved, calculation is efficient, the motion efficiency of the mechanical arm is improved effectively, and the multi-axis motion planning optimizing method has wide application prospects in the field of the trajectory planning of the mechanical arm.

Description

technical field [0001] The invention relates to the field of automation, in particular to a multi-axis motion planning optimization method for a mechanical arm passing through a path point. Background technique [0002] Manipulator Motion Planning (Manipulator Motion Planning) is subject to certain conditions, specify the motion planning task of the manipulator, and solve the motion sequence between the start and end positions. During the motion planning process of the manipulator, collision avoidance requirements such as space obstacles and illegal areas and reasonable controllable requirements of the motion path need to be considered. In the actual process of the manipulator, the movement of multiple position points is required to achieve the above requirements. [0003] Currently, existing methods cannot meet the high-efficiency requirements of manipulators in motion planning. Therefore, there is an urgent need for a new method to improve the computational efficiency of ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1666
Inventor 赵烈
Owner 壹利特机器人科技(常州)有限公司