Motion planning method for sudden acceleration layer of redundant manipulator with speed optimization
A technology for motion planning and optimization of characteristics, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems that do not consider the physical limits of manipulator joints
Active Publication Date: 2021-03-09
HUAQIAO UNIVERSITY
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However, these planning schemes often do not consider the physical limit of the joints of the manipulator, and the final velocity obtained by the analysis is usually not zero, so it is difficult to be widely used in practical engineering
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[0024] The present invention will be further described below in conjunction with the accompanying drawings.
[0025] see figure 1 As shown in Fig. 1, a redundant manipulator abrupt addition level motion planning method with speed optimization characteristics is mainly composed of: designing a new performance index with speed optimization characteristics 1, establishing a sudden addition level motion planning scheme 2, converting to quadratic It consists of six parts: type optimization problem 3, numerical algorithm solver 4, lower computer controller 5 and redundant manipulator 6.
[0026] Firstly, according to the performance index of the manipulator abrupt acceleration layer, speed and acceleration are introduced through two design parameters, and a new performance index with speed optimization characteristics is designed; then combined with the performance indicators to be optimized, the corresponding sudden acceleration layer motion planning scheme is established , and tr...
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The invention provides a motion planning method for a redundant manipulator with a speed optimization characteristic, comprising: according to the performance index of the manipulator's sudden acceleration layer, introducing speed and acceleration through two design parameters, and designing with speed optimization characteristics The new performance index; based on the new performance index, establish the corresponding jerk layer motion planning scheme, which is constrained by the Jacobian matrix equation of velocity, acceleration, jerk, joint angle limit, and joint speed limit , joint acceleration limit and articular process acceleration limit; transform the above-mentioned planning scheme into a quadratic optimization problem, and solve it through a numerical algorithm solver; the lower computer controller drives the mechanical arm to complete it according to the solution result given terminal task. The sudden acceleration layer motion planning scheme designed by the present invention can not only realize the purpose of speed optimization on the sudden acceleration layer, but also make the speed of each joint of the mechanical arm be zero after completing a given terminal task.
Description
technical field [0001] The invention relates to the field of motion planning of a redundant manipulator, in particular to a method for planning a sudden addition layer motion of a redundant manipulator with speed optimization characteristics. Background technique [0002] A redundant robotic arm is a mechanical device with more degrees of freedom than required to perform an end task, and its application has expanded to many industrial fields, such as welding assembly, space exploration, and medical surgery. As the time derivative of acceleration, the sudden acceleration has a great influence on the stability of the entire robotic arm system, and it has a direct relationship with the motion of the human body. Therefore, the research of the manipulator on the sudden increase layer has received extensive attention in recent years, and many motion planning schemes have been proposed one after another. However, these planning schemes often do not consider the physical limit of t...
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IPC IPC(8): B25J9/16
CPCB25J9/1643B25J9/1664
Inventor 郭东生晏来成聂卓赟邵辉罗继亮
Owner HUAQIAO UNIVERSITY