Obstacle avoidance solution applied to redundant manipulator

Abstract

The invention discloses an obstacle avoidance solution applied to a redundant manipulator. The obstacle avoidance solution comprises the steps of: S1, acquiring a forward kinematics model of the manipulator through establishing a D-H matrix of the manipulator, and establishing a target track equality constraint index of a speed layer after performing derivation processing on the forward kinematicsmodel; S2, establishing a vector-based obstacle avoidance inequality constraint index; S3, writing the target track equality constraint index of the speed layer established in the step S1 and the vector-based obstacle avoidance inequality constraint index established in the step S2 into quadratic programming problems in the unified form; S4, transforming the quadratic programming problems in theunified form in the step S3 into a linear variational inequality; S5, solving the linear variational inequality in the step S4 by means of a primal-dual neural network solver; S6, and outputting manipulator joint angle control variables solved by means of the primal-dual neural network solver in the step S5 to the manipulator, so as to realize the effect of controlling the redundant manipulator toavoid obstacles.

Description

technical field [0001] The invention relates to the field of redundant manipulators, in particular to an obstacle avoidance solution applied to redundant manipulators. Background technique [0002] Redundant manipulator means that the number of degrees of freedom of the manipulator is more than the number of degrees of freedom necessary to complete the task. Due to more degrees of freedom, the redundant manipulator can also complete the main task of the end effector, such as avoiding obstacles. Additional tasks such as objects, shutdown limit positions, and strange states of the robotic arm. In recent years, redundant robotic arms have more and more applications in life and industry. Redundancy The manipulator has redundant degrees of freedom, so it can complete the subtask of obstacle avoidance while completing the main task (such as trajectory tracking). For the manipulator, it is very important to avoid obstacles when performing the main task. necessary. This is becaus...

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