A Method for Initial Position Positioning of Redundant Manipulator Arms for Repeatable Movement

Abstract

The invention relates to an initial position positioning method for repeatable motion of a redundant manipulator. The initial position positioning method for the repeatable motion of the redundant manipulator comprises the following steps of (1) determining an expected target trajectory and an expected closed joint angle of an end effector of the redundant manipulator; (2) designing a final-stateattracted optimizing index, and forming a manipulator repeating motion planning scheme, wherein an initial joint angle during the redundant manipulator during actual motion can be assigned at will, and the end effector is not required to be at the expected trajectory; (3) building a final-state neural network model of a limited value activation function, and solving a time varying matrix equationthrough the limited value final-state neural network; and (4) using a result obtained through solving for controlling each joint motor, and driving the manipulator to perform a task. The invention provides the redundant manipulator repeating motion initial position positioning method with high accuracy and converged limited time, so that when each initial joint angle of the manipulator is deviatedfrom an expected position, the redundant manipulator can be ensured to effectively accomplish a work task, and whether each initial joint angle is on the expected task trajectory or not has no need to be considered.

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] The progress of society and the development of science and technology have prompted people to be more and more eager to be liberated from monotonous, repetitive, complicated and dangerous labor work, and the mechanical arm (as one of the major achievements of human scientific and technological progress in the 20th century) The emergence of this makes all this gradually become a reality. Generally speaking, a robotic arm refers to a mechanical device with an active end, and its end tasks include handling, welding, painting, and assembly; it has been widely used in industrial manufacturing, medical treatment, entertainment services, fire protection,...

AI Technical Summary

Problems solved by technology

Generally speaking, the most widely used pseudo-inverse control method cannot obtain repeatability in order to complete the original repetitive motion.

Self-motion is usually used to make up for it, and self-motion adjustment is often inefficient

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