Tele-operation mechanical arm three-dimensional obstacle avoidance method based on virtual thrust

Abstract

The invention discloses a tele-operation mechanical arm three-dimensional obstacle avoidance method based on virtual thrust. When obstacles exist on the tail end track of a tele-operation mechanical arm, the tail end track is traced according to an obstacle avoidance algorithm with the improved task priority. While the tail end of the mechanical arm gets closer to the obstacles, the virtual thrustis started to participate in the obstacle avoidance task. Under the condition that the task track tracing error of a tail end executor of the tele-operation mechanical arm is extremely small, the avoidance action of the mechanical arm for the obstacles is completed. After obstacle avoidance is achieved, while the tail end of the mechanical arm gets away from the obstacles, strength of the virtualthrust is gradually reduced, the tail end track continues to be traced, and the given work task is completed. By means of the algorithm, the tail end of the tele-operation mechanical arm can completethe given task in a three-dimensional complex environment, and meanwhile collision between rod pieces and the obstacles and collision between all joints and the obstacles are ensured. Under infusionof the virtual thrust, the defect that the task conversion algorithm is caught in the local obstacle avoidance dead zone is overcome.

Description

technical field [0001] The invention discloses a three-dimensional obstacle avoidance method for a teleoperated mechanical arm based on virtual thrust, in particular to a motion planning method for the three-dimensional obstacle avoidance movement process of the teleoperated mechanical arm, and belongs to the field of mechanical arm motion planning. Background technique [0002] The research on the problem of robot motion planning has been raised in the 1960s. Early motion planning was only concerned with path planning. Considering the robot as a point, motion planning is to find a continuous path from the initial pose point to the target pose point in the pose space, and its research has been very mature. Compared with the obstacle avoidance of the robot, the obstacle avoidance of the teleoperated manipulator is much more complicated. It is that when completing a specific task, all the components and ends of the manipulator do not collide with the obstacle. [0003] For t...

AI Technical Summary

Problems solved by technology

It solves the common problems in the above obstacle avoidance algorithms, such as large amount of calculation, large error in terminal trajectory tracking, and difficulty in realizing obstacle avoidance in unstructured and complex 3D environments

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