Redundancy degree-of-freedom mechanical arm movement planning and evaluating method based on arm-shaped angle interval

Abstract

The invention discloses a redundancy degree-of-freedom mechanical arm movement planning and evaluating method based on arm-shaped angle interval. The method includes that arm-shaped angle parameters are adopted to describe self movement of a redundancy degree-of-freedom mechanical arm, and self movement characteristics are applied explicitly on a joint position level; arm-shaped angle space avoiding joint extreme and arm-shaped angle space avoiding obstacles are solved, and an intersection set of the two spaces is solved; if the intersection set is not an empty set, any value in the intersection set is substituted into a kinematics inverse model to acquire all feasible mechanical arm kinematics inverse solutions avoiding the joint extreme and the obstacles under a given mechanical arm tail-end pose; sampling is performed in a planned working space, sampling points are evaluated to improve efficiency and accuracy of movement planning, and routes of optimized planning are enabled to better meet arm movement forms of human beings. The intersection set avoiding the joint extreme and obstacle extreme is solved to acquire all feasible inverse solutions avoiding the joint extreme and theobstacle under the given tail-end executor pose, then movement planning is performed, so that a lot of redundancy solutions are excluded. The method is simple, high in efficiency and accuracy and capable of realizing online real-time movement planning.

Description

technical field [0001] The invention belongs to the field of mechanical arm motion planning, and in particular relates to a redundant degree of freedom mechanical arm motion planning and evaluation method based on an arm shape angle interval. Background technique [0002] The important research content of manipulator motion planning is to plan an optimal path that satisfies various indexes. The joint space of the redundant degree of freedom manipulator has self-motion characteristics, and the inverse solution has multiple solutions. The inverse solution space of the redundant degree of freedom manipulator can be obtained by satisfying the joint avoidance limit or the obstacle avoidance index. [0003] Aiming at the joint avoidance limit problem, most current methods are based on the joint velocity vector in the null space of the Jacobian matrix to solve the problem, and use the joint limit value to construct the repulsion factor or the joint limit average value to construct ...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of the existing redundant degree-of-freedom manipulators with large amount of calculation, integral drift error and easy to fall into local extremum, the present invention proposes a redundant degree-of-freedom manipulator based on the arm shape angle interval for motion planning and evaluation method, which introduces arm shape angle constraints, explicitly applies self-kinematic characteristics at the joint position level, and solves all feasible kinematic inverse solutions that satisfy joint avoidance limits and obstacle avoidance; sampling in the planned workspace, And evaluate the sampling points to improve the efficiency and accuracy of motion planning, so that the optimized planning path is more in line with the human arm motion form

Images