Avoidance method for obstacles and physical limits
A technology of physical limits and obstacles, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of mechanical arm lockup and the limit of physical joints of redundant manipulators are not considered.
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[0123] figure 1 Shown is the flow chart of the obstacle and physical limit avoidance method of the example of the present invention, this vector-based obstacle and physical limit avoidance method comprises the following steps:
[0124] S1. According to the physical model of the target system, write its kinematic equation expression;
[0125] S2. Based on the kinematic equation expression of the target system in step S1, solve the Jacobian matrix of the end effector of the target system;
[0126] S3. According to the relationship between the target system and the obstacle, define its obstacle avoidance constraint;
[0127] S4. Optimizing the obstacle avoidance constraints described in step S3, and designing a vector-based obstacle avoidance method;
[0128]S5. According to the physical model of the target system, set its physical limit constraint expression;
[0129] S6. Merge the vector-based obstacle avoidance method described in step S4 with the physical limit constraint ...
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