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Obstacle avoidance solution applied to redundant manipulator

A solution, the technology of the robotic arm, applied in the field of obstacle avoidance, can solve problems such as inability to effectively avoid obstacles, long calculation time, and low calculation accuracy, and achieve fast calculation speed, improved solution time, and high accuracy. Effect

Active Publication Date: 2018-04-27
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This algorithm is based on quadratic programming, but there are problems such as inability to effectively avoid obstacles, low calculation accuracy, and long calculation time.

Method used

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  • Obstacle avoidance solution applied to redundant manipulator
  • Obstacle avoidance solution applied to redundant manipulator
  • Obstacle avoidance solution applied to redundant manipulator

Examples

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Embodiment

[0029] This embodiment provides a solution to obstacle avoidance applied to a redundant robotic arm. The flow chart of the method is as follows figure 1 shown, including the following steps:

[0030] S1. Obtain the positive kinematics model of the manipulator by establishing the D-H matrix of the manipulator, and establish the target trajectory equality constraint index of the velocity layer after deriving it;

[0031] Specifically, give Figure 4 The shown redundant manipulator establishes the D-H model, establishes the D-H model for the mobile platform, and combines the redundant manipulator with the D-H model of the mobile platform to establish the following Figure 5 The D-H model of the mobile redundant manipulator is shown, and the target trajectory equation constraint index of the speed layer established after its derivation is:

[0032]

[0033] Among them, J E represents the Jacobian matrix of the end effector of the manipulator, Indicates the angular velocity...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张智军朱徐鹏
Owner SOUTH CHINA UNIV OF TECH
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