Disturbance rejection mechanical arm repeating motion planning method with saturation characteristic

Abstract

The invention provides a disturbance rejection mechanical arm repeating motion planning method with saturation characteristics. The method comprises the following steps: 1) designing quadric form disturbance rejection mechanical arm repeating motion performance indexes with saturation characteristics, and generating a quadric form optimization analysis scheme; 2) converting the quadric form optimization analysis scheme in the step 1) into secondary planning; 3) dissolving the secondary planning in the step 2) by using a secondary planning dissolver; 4) conveying the dissolution results in thestep 3) to a slave computer controller, thereby driving a mechanical arm to move. The invention provides saturation designing of performance indexes of mechanical arm motion planning, and a too rapidjoint angle speed phenomenon caused by too large deviation can be remarkably inhibited. Potential risks of the mechanical arm in the motion process can be effectively avoided by preventing too large swinging speeds of the mechanical arm; in addition, the disturbance rejection performance of the mechanical arm is improved, and the improvement has positive significance and wide application in the field of engineering application.

Description

technical field [0001] The invention relates to the field of motion planning and control of an anti-disturbance manipulator, in particular to an inverse kinematics solution method of an anti-disturbance manipulator. Background technique [0002] The anti-disturbance manipulator has the function of limiting the angular velocity of the joints of the manipulator, and also has anti-disturbance performance. The device is widely used in fields involving national economic production such as industrial equipment, medical treatment, safety and explosion protection. The inverse kinematics problem of the anti-disturbance manipulator refers to the problem of knowing the position and posture of the end of the manipulator, and finally determining the joint angle of the manipulator. When the task of the end of the anti-disturbance manipulator is to walk a closed curve, each joint of the manipulator may not return to the initial position when the end reaches the initial position. This phen...

AI Technical Summary

Problems solved by technology

Although some of the previous repetitive motion analysis methods are also carried out on the velocity layer, the solution methods on these velocity layers do not consider the speed limit, so the mechanical arm may be physically damaged due to exceeding the speed limit during the movement process, then The application of the previous scheme cannot meet the running accuracy required by the anti-disturbance manipulator in some occasions

The inventor team's previous invention "A New Acceleration Layer Repeated Motion Planning Method for a Redundant Manipulator" (application number: CN201010264141.6) is an acceleration layer repetitive motion analysis method, which can overcome the above acceleration layer Controlled anti-disturbance manipulator, however, the invention does not saturate the speed design, and cannot meet the requirements of the limited speed of the manipulator joint in practical applications

The patent of this invention proposes an anti-disturbance robotic arm repetitive motion planning method with saturation characteristics, which effectively overcomes the defect of no saturation characteristics in the previous velocity layer repetitive motion planning, and will analyze the saturation from the velocity layer

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