Correction method of initial position in repeating motion of redundant mechanical arm

Abstract

The invention discloses a correction method of an initial position in repeating motion of a redundant mechanical arm. The correction method comprises the following steps that 1) a desired target trajectory r*(t) and a desired retractable joint angle theta*(0) of an end effector of the redundant mechanical arm are determined, a final state attraction and optimization index is designed, and thus a mechanical arm repeating motion planning scheme is formed, wherein an initial joint angle during actual motion of the redundant mechanical arm can be designated freely and the end effector is not required to be located on a desired trajectory; 2) the initial joint angle theta (0) during the actual motion of the redundant mechanical arm is given, and by taking theta (0) as a motion starting point, anovel repeating motion planning scheme is converted to a corresponding quadratic programming problem; 3) a final state neural net model of a limited value activation function is constructed and a matrix equation is changed during solution of a limited value final state neural net; and 4) a solved result is used for controlling various joint motors and driving the mechanical arm to perform a task.The correction method of the initial position in the repeating motion of the redundant mechanical arm has the advantages of high precision and finite time convergence.

Description

technical field [0001] The present invention relates to repetitive motion planning and control technology of a redundant mechanical arm, in particular to a finite time convergence performance index and an inverse kinematics solution method of a redundant mechanical arm in the case of an initial offset. Background technique [0002] Manipulators have always been a research hotspot in the field of robotics. A robotic arm refers to a mechanical device with an active end. Its end tasks include handling, welding, painting, and assembly. It has been widely used in industrial manufacturing, medical treatment, entertainment services, fire protection, military, and space exploration. According to the degree of freedom (Degrees-of-Freedom, DOF), the manipulator can be divided into a redundant manipulator and a non-redundant manipulator. A redundant manipulator is one that has more DOF than is required to complete a given end task. Correspondingly, a non-redundant manipulator is one ...

AI Technical Summary

Problems solved by technology

[0026] In order to overcome the low precision of the existing repetitive motion control method of redundant manipulators and the inability to achieve limited-time convergence, the present invention provides a high-precision, limited-time convergent initial position correction method in repetitive motion of redundant manipulators , when the initial joint angles of the manipulator deviate from the expected position, it ensures that the redundant manipulator can effectively complete the task without considering whether the initial joint angles are on the expected task trajectory

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