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Optimal obstacle avoidance control method and device for robotic arms based on artificial potential field gravitational factor

A gravitational factor and artificial potential field technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as difficult selection, and achieve the effects of less energy consumption, simple algorithm, and short obstacle avoidance path

Active Publication Date: 2018-07-17
SHANGHAI NORMAL UNIVERSITY
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AI Technical Summary

Problems solved by technology

The implementation of this method must obtain a set of "reasonable" joint angle solutions through other methods, but it is difficult to choose a "reasonable" solution in real-time applications
There are many public documents on how to improve the local shortcomings of the artificial potential field method in the obstacle avoidance of mobile robots. For the artificial potential field gravitational factor, it can adapt to changes in the position and size of obstacles, and satisfy the optimal state of the end of the manipulator. There is no similar literature publicly available for the requirements of obstacle avoidance

Method used

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  • Optimal obstacle avoidance control method and device for robotic arms based on artificial potential field gravitational factor
  • Optimal obstacle avoidance control method and device for robotic arms based on artificial potential field gravitational factor
  • Optimal obstacle avoidance control method and device for robotic arms based on artificial potential field gravitational factor

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Embodiment 1

[0079] first step, such as image 3 and Figure 4 As shown, it is a schematic diagram of the optimal path characteristics of an obstacle size change according to the embodiment of the present invention, wherein a represents the obstacle point, b represents the target point, and c represents the movement path. Establish the radius of the two obstacles as 0.4 and 0.44 respectively, the center point position of the fixed obstacle (0.6,0.6), the center point position of the target point (0.9,0.2), the starting center position of the end of the robot arm (0.2,0.2), Determine the range constant ρ of the repulsive potential field 0 It is equal to the distance between the obstacle and the target point of 0.5.

[0080] The second step is to initialize the model state model position λ through the first step, and then give κ f The initial value of is 1.

[0081] The third step is to calculate the gravitational force F at the end of the manipulator through the artificial potential fie...

Embodiment 2

[0086] first step, such as Figure 5 and Figure 6 As shown, it is a schematic diagram of the optimal path characteristics of the change of the center position of the obstacle in the second embodiment of the present invention. The center positions of the two obstacles are established as (0.6,0.56) and (0.6,0.6) respectively, and the radius of the fixed obstacle is r=0.41, the center point position of the target point (0.9,0.2), the starting center position of the end of the mechanical arm (0.2,0.2). Determine the range constant ρ of the repulsive potential field 0 It is equal to the distance between the obstacle and the target point.

[0087] The second step is to initialize the model state model position λ through the first step, and then give κ f The initial value of is 1.

[0088] The third step is to calculate the gravitational force F at the end of the manipulator through the artificial potential field algorithm aat and repulsion F rep .

[0089] The fourth step is...

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Abstract

The invention relates to an optimal obstacle avoidance control method and device for robotic arms based on an artificial potential field gravitational factor. The method includes the following steps:(1) setting an initialized model position and an initial value of the gravitational factor; (2) calculating the gravity and repulsion borne by the end of a robotic arm by using an artificial potentialfield algorithm; (3) based on the initialized model position and the step (2), obtaining a path point set of the end of the robotic arm by using the gravity and repulsion; (4) obtaining the shortestdistance between the points in the path point set of the end of the robotic arm and the center position of an obstacle and the termination position of the end of the robotic arm, and obtaining a shortest obstacle avoidance path model description based on model constraints; and (5) building an obstacle avoidance path objective function based on the shortest obstacle avoidance path model description, using an optimization method to iteratively calculate the zero value of the obstacle avoidance path objective function, and obtaining a set of optimal path points of the robotic arm. Compared with the prior art, the optimal obstacle avoidance control method and device have the advantages of good real-time performance and good robustness, and can adapt to the change in position and size of an obstacle and realize optimal obstacle avoidance.

Description

technical field [0001] The invention belongs to a path planning method for a manipulator, in particular to a control method and device for optimal obstacle avoidance of a manipulator based on an artificial potential field gravitational factor. Background technique [0002] With the development of industrial robots, their production technology has been gradually improved, and their costs have been relatively reduced, which makes it easier for "human" bionic robots (such as mechanical arms) to enter people's lives. For example, the pleasantness and dexterity of robotic arms such as iiwa from KUKA, jaco from Kinova, and Saywer from Rethink robotics have made social life and work more flexible and intelligent. This kind of service robotic arm is slowly transforming from an industrial robot, a way of using and being used, replacing and being replaced between humans and robots, into a way that is integrated into people's production and living environment and can be harmonious with...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 安康方厚招方祖华周华徐颖
Owner SHANGHAI NORMAL UNIVERSITY
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