Motion planning method and device for operability optimization of redundant manipulator

Abstract

The invention discloses an operability optimization motion programming method for a redundancy mechanical arm. The operability optimization motion programming method comprises the steps of setting anoptimized motion performance index for maximizing the operability derivative of the redundancy mechanical arm and a constraint relation corresponding to the motion performance index; converting the motion performance index and the corresponding constraint relation into a quadratic programming problem; solving the quadratic programming problem through a quadratic programming solver, so that a solving result is obtained; and controlling the mechanical arm to move according to the solving result. By means of the method, various physical constraints of the redundancy mechanical arm can be effectively avoided, and the application space for conducting operability optimization motion programming on the redundancy mechanical arm is effectively expanded.

Description

technical field [0001] The invention belongs to the field of intelligent control, in particular to a motion planning method and device for optimizing the operability of a redundant mechanical arm. Background technique [0002] The redundant manipulator has the characteristic that the degree of freedom is greater than the minimum degree of freedom required by the task space. It is widely used in national economic production activities such as equipment manufacturing, product processing, and machine operations, bringing convenience to people's life and work. [0003] The inverse kinematics problem of the redundant manipulator refers to the problem of determining the joint angle of the manipulator given the end pose of the manipulator. When the end of the redundant manipulator performs tasks, how to maximize the maneuverability of the manipulator to avoid singularities to the greatest extent is called the manipulator maneuverability optimization problem. When the operability o...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a motion planning method for the operability optimization of redundant manipulators, so as to solve the problems of various physical problems that are generally difficult to embed in the manipulators in the prior art if the pseudo-inverse operability optimization method is adopted. Constraints, the problem that limits the operability of redundant manipulators

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