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Optimization method of minimum acceleration trajectory of 7-DOF humanoid-arm-provided flying object in operation

A 7-DOF, trajectory optimization technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as robot body disturbance

Active Publication Date: 2018-05-25
SUZHOU UNION INTELLIGENT TECH CO LTD
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  • Application Information

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Problems solved by technology

In addition, the continuity of the acceleration trajectory is another important factor affecting the disturbance of the reaction of the humanoid arm to the body. The discontinuous acceleration trajectory may cause the hidden vibration of the system during the movement of the humanoid arm, which will have a greater impact on the robot body. disturbance

Method used

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  • Optimization method of minimum acceleration trajectory of 7-DOF humanoid-arm-provided flying object in operation
  • Optimization method of minimum acceleration trajectory of 7-DOF humanoid-arm-provided flying object in operation
  • Optimization method of minimum acceleration trajectory of 7-DOF humanoid-arm-provided flying object in operation

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Embodiment

[0087] Embodiment: effect of the present invention can be further illustrated by following experimental simulation:

[0088] according to figure 1 The designed seven-degree-of-freedom humanoid arm joint structure model is shown, and the following tables 1 to 3 are the constraint ranges of the joint angles, velocities, and accelerations of the humanoid arm.

[0089] Table 1 Angle range of each joint of the 7-DOF redundant dexterous arm (degrees)

[0090]

[0091] Table 2 The maximum velocity value of each joint of the 7-DOF redundant dexterous arm (rad / s)

[0092]

[0093] Table 3 The maximum acceleration value of each joint of the 7-DOF redundant dexterous arm (rad / s 2 )

[0094]

[0095] Suppose the width of the shoulder of the human arm is D=0.14m, and the length from the shoulder to the elbow of the upper arm is L 1 =0.26m, distance L from elbow to wrist of lower arm 2 =0.25m, distance L from wrist to palm 3 =0.14m; set the shoulder as the origin of the world...

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Abstract

The invention discloses an optimization method of a minimum acceleration trajectory of a 7-DOF humanoid-arm-provided flying object in operation. The optimization method comprises the following steps:step (S1) building a mathematic model, adopting Joint trajectories of a quartic polynomial interpolation operation process and a return process, and taking a joint angular acceleration norm minimum asa target function for algorithm optimization; step (S2) setting the running parameters of a particle swarm optimization algorithm; step (S3) running the particle swarm optimization algorithm, and obtaining a group of optimal redundant variable parameters by optimizing and minimizing the target function; and step (S4) substituting the optimal redundant variable parameter into operation action trajectory parameterization of the humanoid-arm-provided flying object to obtain the action trajectory of which the joint angular acceleration norm is minimum. The optimization method disclosed by the invention can be used for obtaining an operation action trajectory of the humanoid-arm-provided flying object, wherein the angular acceleration is continuous, and the joint angular acceleration norm is also minimum, so hidden vibration caused by an incontinuous angular acceleration trajectory in an action process of a humanoid arm, disturbance on the posture of a robot body is reduced, and the execution precision of the humanoid arm is improved.

Description

technical field [0001] The invention relates to a method for optimizing the minimum acceleration trajectory of a flying object with a 7-DOF humanoid arm, and belongs to the technical field of robot control. Background technique [0002] Trajectory planning of humanoid arm with seven degrees of freedom is a research hotspot in the field of robotics, and it plays an important role in making robots better serve humans. Robot trajectory planning refers to designing a reasonable motion trajectory that meets the task requirements within the range of robot motion constraints. According to different planning spaces, robot trajectory planning can be divided into two methods: joint space planning and task space planning. Among them, joint space planning has better real-time performance and a small amount of calculation; task space planning requires the end trajectory of Cartesian space to Mapped into the joint space, the calculation is relatively large. [0003] Due to the linkage m...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1612B25J9/1651B25J9/1664
Inventor 任子武王振华孙立宁
Owner SUZHOU UNION INTELLIGENT TECH CO LTD
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