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A Humanoid Robot Dual-Arm Motion Planning Method

A technology of motion planning and robotics, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of strong logic, clear thinking, and real-time online control

Active Publication Date: 2021-02-23
BEIJING ZIXUN TECH
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Problems solved by technology

However, most of the existing quadratic programming optimization methods focus on the motion planning of a single robotic arm, and only a few methods consider the research on the motion planning of humanoid robots.

Method used

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  • A Humanoid Robot Dual-Arm Motion Planning Method
  • A Humanoid Robot Dual-Arm Motion Planning Method
  • A Humanoid Robot Dual-Arm Motion Planning Method

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Embodiment

[0041] Such as figure 1 As shown, a humanoid robot dual-arm motion planning method includes the following steps:

[0042] 1) According to the kinematics model of the humanoid robot arms, write the forward kinematic equations of the left arm and the right arm of the humanoid robot respectively;

[0043] 2) According to the forward kinematics equation obtained in step 1), write the inverse kinematics equations of the left arm and the right arm of the humanoid robot respectively according to the pseudo-inverse method;

[0044] 3) According to the inverse kinematics equation obtained in step 2), write the quadratic programming problem expressions of the left arm and the right arm of the humanoid robot respectively;

[0045] 4) According to the quadratic programming problem expressions of the left arm and the right arm obtained in step 3), respectively combine the quadratic programming index and constraint conditions of the left arm with the quadratic programming index and constra...

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Abstract

The invention discloses a motion planning method for a humanoid robot double arm, which comprises the following steps: according to the kinematic models of the left and right arms of the humanoid robot, respectively write the forward kinematic equations of the left arm and the right arm of the humanoid robot, On this basis, the inverse kinematic equations of the left arm and the right arm of the humanoid robot are listed respectively; according to the inverse kinematic equations, the quadratic programming problem expressions of the left arm and the right arm of the humanoid robot are respectively listed; then the left Combining the quadratic programming indexes and constraints of the arm and the right arm, the standard quadratic programming problem expression of the humanoid robot is obtained; according to the standard quadratic programming problem expression, the three motion planning judgment methods of the humanoid robot are set; combined The above three motion planning judgment methods solve the standard quadratic programming problem expression and output the optimal solution. The method of the invention can well control the left and right arms of the humanoid robot, and has the characteristics of clear thinking, strong logic, simplicity and effectiveness.

Description

technical field [0001] The invention relates to the field of robot kinematics planning, in particular to a method for planning the motion of a humanoid robot with two arms. Background technique [0002] Humanoid robots can help people better adapt to peer-to-peer collaborative environments, so they are gaining popularity in various applications. The arms of humanoid robots can not only be used to complete a variety of operational tasks, but also as an important part of body language, can make humanoid robots more realistic. At the same time, compared with the single-arm system of conventional robots, the dual-arm system of humanoid robots can greatly improve the efficiency by performing tasks simultaneously. In addition, humanoid robots can also choose to use one arm or two arms to complete various tasks according to actual needs. For example, they can cooperate to handle heavy objects by sharing the load. Early multi-arm systems date back to Goetz's telemanipulator syste...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1612B25J9/1682
Inventor 张智军孔令东
Owner BEIJING ZIXUN TECH
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