Anti-noise-interference redundant manipulator path planning method

A path planning, robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as unsatisfactory, unreasonable, and unrealistic

Active Publication Date: 2018-05-11
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Such a requirement is unrealistic and difficult to satisfy when neural networks are applied in practical systems
In addition, in the actual system, the reciprocal of the inductance parameter value and the capacitance parameter value is usually time-varying, especially in large-scale power electronic systems, AC motor control systems, power network systems, etc., the system parameters are set to fixed values is unreasonable

Method used

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Embodiment 1

[0085] Such as figure 1 As shown, this embodiment provides a redundant robotic arm path planning method for anti-noise interference, the method includes the following steps:

[0086] S1. Establish a time-varying quadratic programming model according to the actual redundant manipulator parameter index, and introduce the performance index coefficient vector of the redundant manipulator;

[0087] S11. Establish a time-varying quadratic programming model:

[0088] By formulating and modeling the parameter index of the actual redundant manipulator, the following kinematic equation expression of the redundant manipulator can be obtained:

[0089] f(θ(t))=r(t) (1)

[0090] Where θ(t) is the mechanical joint angle of the redundant manipulator; r(t) is the expected end trajectory of the redundant manipulator; f( ) is a nonlinear equation representing the joint angle of the redundant manipulator; Simultaneously deriving both ends of the equation can obtain the following expression of...

Embodiment 2

[0133] Such as figure 2 As shown, this embodiment provides a redundant robotic arm path planning system that is resistant to noise interference, and the specific uses of each module are as follows:

[0134] The external environment input module is used for acquiring and analyzing data input from the external environment.

[0135] The input interface circuit module is used for external setting data and as an interface channel between processors, and can be realized by circuits and protocols of different interfaces according to different sensors.

[0136] The processor module is used to process the external input data, that is, to obtain the optimal solution of the noise-resistant redundant manipulator motion path planning method designed based on the power-type variable parameter recursive neural dynamics method.

[0137] The output interface module is used for the interface between the data solved by the redundant manipulator motion path planning method for anti-noise interf...

Embodiment 3

[0149] The MATLAB simulation experiment of this embodiment is established in Kinova-JACO 2 Based on the lightweight bionic robotic arm. The total weight of this type of robotic arm is 4.4kg, and the maximum control distance is 77cm.

[0150] This type of redundant robotic arm contains a total of 6 degrees of freedom, that is, θ(t) contains 6 elements; the spatial dimension at the end of the robotic arm is 3, including three directions: X axis, Y axis, and Z axis; Its Jacobian matrix is The initial joint angle of the redundant manipulator is set as θ(0)=[1.675,2.843,-3.216,4.187,-1.710,-2.650]; the task execution cycle t is set to 8s; the parameter γ is set to Set at 80. In this example, in order to demonstrate the superiority of the variable parameter neural solver proposed by the present invention for redundant manipulator motion planning, the Kinova-JACO 2 The expected trajectory of the light-weight bionic redundant manipulator is set as a complex butterfly shape, and t...

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Abstract

The invention discloses an anti-noise-interference redundant manipulator path planning method and a system. The method comprises the steps of (1) building a time-varying quadratic planning model according to an actual redundant manipulator parameter index, and introducing a performance index of a redundant manipulator; (2) using a lagrange multiplier method for carrying out optimal value optimization on the time-varying quadratic planning model; (3) designing a standard matrix equality according to an optimization formula; (4) designing a deviation function equation of the system according toan actual physical model system and the standard matrix equality; and (5) designing the anti-noise-interference redundant manipulator path planning method according to the deviation function equationand a power type varying parameter recursion neurodynamics method, wherein a network state solution solved by the method is an optimal solution. According to the anti-noise-interference redundant manipulator path planning method and the system provided by the invention, with the interference of an outside noise environment, an actual motion path of a redundant manipulator can further coincide withan expected path, so that the calculating speed is greatly improved, and the method has the characteristics of high precision, fast convergence, high instantaneity, good robustness and the like.

Description

technical field [0001] The invention relates to a path planning method of a manipulator, in particular to a path planning method of a redundant manipulator with anti-noise interference. Background technique [0002] The so-called noise interference is the interference caused by the various changes caused by the machinery that is performing the operation task, such as the switch machine, generator, and radio communication of the surrounding load equipment when the mechanical equipment performs the operation task. Noise interference often causes malfunctions of precision instruments or computer equipment, and may also cause errors in the execution of programs and files. Therefore, it is necessary to take into account the influence of the noise term when considering the path planning and operation of a complex mechanical system. [0003] The so-called redundancy refers to an extra amount considered from a safety point of view. This amount is to ensure that instruments, equipme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 张智军孔令东
Owner SOUTH CHINA UNIV OF TECH
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