Mechanical arm quick obstacle avoidance method based on improved random road sign map method
A technology of manipulators and maps, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as algorithms that cannot be directly applied to manipulators
Active Publication Date: 2018-09-28
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology
The proposed method can solve the problem that the algorithm cannot be directly applied to the manipulator, and plan the obstacle avoidance path of the manipulator with high quality and high efficiency, meeting the efficiency requirements of the manipulator in the planning process
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Embodiment Construction
[0056] According to the rapid obstacle avoidance method of the manipulator described in the present invention, the eight-degree-of-freedom modular manipulator is used as the research object for verification, and the DH parameter table of the research object is as follows.
[0057]
[0058] This embodiment uses a two-dimensional plane to demonstrate the superiority of the improved PRM algorithm, as described above figure 2 shown. The first row in the schematic diagram shows the sampling effect of the traditional PRM algorithm map sampling point selection strategy. This method will cause the problem that the number of map sampling points in a narrow area is too small and the density of map sampling points is uneven; the second row is the application of "boundary sampling" From the sampling results of the strategy, it can be seen that the density of sampling points in the narrow space has increased significantly, but the problem of uneven sampling point density has not been ...
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The embodiment of the invention provides a mechanical arm quick obstacle avoidance method based on an improved random road sign map method, and realizes the high-efficiency collision-free road path searching of a mechanical arm in complicated environments. The mechanical arm quick obstacle avoidance method based on the improved random road sign map method comprises the following steps of: establishing a mechanical arm state model by means of joint space vector coordinates, optimizing the map sampling point selection strategy of a traditional random road sign map method by means of a 'boundarysampling' method and an artificial potential field method, and selecting map sampling points which meet the requirements of a mechanical arm structure and precision; aiming at the selected set of mapsampling points, designing a three-layer step-by-step map sampling point connection method to ensure the connection performance of the road sign map; and aiming at an obstacle avoidance problem causedwhen the starting and ending nodes of the mechanical arm are connected to the road sign map, designing an advanced local planner to optimize the planning strategy of non-map sampling point positions.According to the technical scheme provided by the embodiment of the invention, the accuracy and execution efficiency of the obstacle avoiding road path planning of the mechanical arm can be effectively improved.
Description
【Technical field】 [0001] The invention relates to a fast obstacle avoidance method of a manipulator based on an improved random landmark map method (hereinafter referred to as PRM algorithm), and belongs to the technical field of obstacle avoidance planning for manipulator movement. 【Background technique】 [0002] With the rapid development of science and technology, high-degree-of-freedom robotic arms with the advantages of flexible operation and high precision have been widely used in industrial production, aerospace and other fields. Under the actual working conditions of the manipulator, the environmental factors are complex. The environment of the manipulator and even the equipment of the manipulator itself will become factors that limit the motion planning of the manipulator. Therefore, when the manipulator performs tasks, it is necessary to consider the environment or self-constraints that limit the movement of the manipulator. , planning its collision-free path. Sin...
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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1664B25J9/1671
Inventor 陈钢闫硕王一帆罗宁王蕾蔡沛霖
Owner BEIJING UNIV OF POSTS & TELECOMM