Continuous mechanical-arm space obstacle avoidance trajectory planning method

A trajectory planning and robotic arm technology, applied in the field of robotics, can solve problems such as large amount of calculation and complex motion model, and achieve the effect of simple algorithm, simplified control, and easy implementation.

Active Publication Date: 2018-07-03
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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Problems solved by technology

However, due to the complex motion model of the continuous manipulator, its path planning for obstacle avoidance in complex environments is a very challenging problem, especially for the continuous manipulator wi

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  • Continuous mechanical-arm space obstacle avoidance trajectory planning method
  • Continuous mechanical-arm space obstacle avoidance trajectory planning method
  • Continuous mechanical-arm space obstacle avoidance trajectory planning method

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Embodiment Construction

[0049]The present invention will be further described below with reference to the accompanying drawings and in combination with preferred embodiments.

[0050] Such as figure 1 As shown, the preferred embodiment of the present invention discloses a continuous manipulator space obstacle avoidance trajectory planning method, comprising the following steps:

[0051] S1: Establish the kinematics model of the continuous manipulator.

[0052] Such as figure 2 , in this embodiment, the continuous mechanical arm is made up of drive box 10, driving rope 20 and whole arm 30, wherein whole arm 30 is made up of multi-section arm sections, and each section arm section can be bent and deformed to obtain multi-section arm sections The homogeneous transformation matrix of the formed continuous manipulator is:

[0053]

[0054] in, i-1 T i is the homogeneous coordinate transformation matrix of a single boom segment, and M is the number of boom segments.

[0055] For the continuously ...

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Abstract

The invention discloses a continuous mechanical-arm space obstacle avoidance trajectory planning method. The continuous mechanical-arm space obstacle avoidance trajectory planning method comprises thefollowing steps that a kinematic model of a continuous mechanical arm is established, tail end space trajectories are generated according to task requirements, a space reference curve of mechanical-arm configuration is established utilizing a modal function, the tail end of the mechanical arm can be made to reach a desired position, the mechanical-arm configuration is fitted with the space reference curve according to deformation characteristics of a single section mechanical arm, the single section arm segment configuration is calculated according to reference fitting points, whether the continuous mechanical arm collides with an obstacle or not is detected, the mechanical-arm configuration is adjusted according to the obstacle avoidance strategy, and obstacle avoidance is realized. By means of the continuous mechanical-arm space obstacle avoidance trajectory planning method provided by the invention, the continuous mechanical-arm space obstacle avoidance trajectory planning can be realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a space obstacle avoidance trajectory planning method of a continuous manipulator. Background technique [0002] Inspired by the structures of biological organisms in nature such as elephant trunks, vines, snakes, etc., the design and technology of continuous robots with continuous deformation structures are receiving more and more attention. A continuous robot refers to a class of manipulators with a continuously deformable structure. Compared with traditional manipulators, continuous manipulators have strong flexibility and inherent compliance, so they are especially suitable for operations in complex unstructured environments and tasks that interact with humans. However, due to the complex motion model of the continuous manipulator, its path planning for obstacle avoidance in complex environments is a very challenging problem, especially for the continuous manipulator with hyp...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/06
CPCB25J9/065B25J9/1607B25J9/1635B25J9/1666
Inventor 王学谦于行尧孟得山黄少平梁斌徐文福
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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