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.

Active Publication Date: 2018-11-09
SOUTH CHINA UNIV OF TECH
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  • Claims
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Problems solved by technology

At the same time, the current application of this method does not consider the physical joint limit of the redundant robotic arm

Method used

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  • Avoidance method for obstacles and physical limits
  • Avoidance method for obstacles and physical limits
  • Avoidance method for obstacles and physical limits

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Embodiment

[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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Abstract

The invention discloses an avoidance method for obstacles and physical limits. The method includes the following steps: writing a kinematical equation expression according to a physical model of a target system; solving a Jacobian matrix of an end effector of the target system; defining an obstacle avoidance constraint according to a relationship between the target system and the obstacles; optimizing the obstacle avoidance constraint, and designing a vector-based obstacle avoidance method; setting a physical limit constraint expression according to the physical model of the target system; merging the vector-based obstacle avoidance method with the physical limit constraint expression, and designing a vector-based obstacle and physical limit avoidance method of the target system combiningthe Jacobian matrix of the end effector; performing transformation to obtain an equivalent linear differential inequation; performing transformation to obtain an equivalent linear projection equation;and substituting the linear projection equation ton an original dual neural network solver to performing solution, and avoidance of the obstacles and physical limits by the target system can be completed.

Description

technical field [0001] The invention relates to the technical field of system control and planning, in particular to a method for avoiding obstacles and physical limits. Background technique [0002] Obstacle avoidance and physical limit avoidance are one of the basic problems in the analytical research of modern intelligent systems equipped with redundant manipulators, which are related to whether the equipped redundant manipulators can successfully complete a given terminal task. Therefore, avoiding obstacles and physical limits in dynamic programming and control is very important and has practical significance. If the avoidance of the above-mentioned obstacles and physical limits is not considered, it will likely lead to work failure or even damage to the robotic arm. [0003] The traditional method is based on the artificial potential field. Its basic idea is to design the movement of the manipulator in the surrounding environment as an abstract movement in the artifici...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1607B25J9/1666
Inventor 张智军孔令东朱徐鹏
Owner SOUTH CHINA UNIV OF TECH
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