Redundancy mechanical arm repetitive motion planning method for suppressing periodic noise

Abstract

The invention provides a redundancy mechanical arm repetitive motion planning method for suppressing periodic noise. The redundancy mechanical arm repetitive motion planning method includes the following steps that (1), inverse kinematics of a mechanical arm on an angular acceleration layer is analyzed by using quadratic optimization, minimum performance indexes can be a angular velocity norm anda torque norm, and a jacobian equation is constrained by angular acceleration with an angular velocity and a position feedback; (2), equivalent transformation of an angular velocity index and an angular acceleration index is carried out, and quadratic optimization of the step (1) is transformed into standard quadratic programming; (3), standard quadratic programming of the step (2) is solved through a network solver by using a periodic rhythm neural network; and (4), a solving result of the step (3) drives the mechanical arm to move. According to the redundancy mechanical arm repetitive motionplanning method for suppressing the periodic noise, repetitive motion planning of controlling redundancy manipulator is realized by using the periodic rhythm neural network based on quadratic programming, interference of the periodic noise is effectively prevented, the actual track of the manipulator coincides with the desired path, and repetitive motion planning of the manipulator can be achieved.

Description

technical field [0001] The invention relates to the field of redundant manipulator control, in particular to a redundant manipulator repetitive motion planning method for suppressing periodic noise. Background technique [0002] The redundant manipulator is a terminal active mechanical device with a degree of freedom greater than the minimum degree of freedom required by the task space. Its motion tasks include welding, painting, assembly, excavation, and drawing, etc. It is widely used in equipment manufacturing, product processing, and machine operations. and other national economic production activities. The inverse kinematics problem of the redundant manipulator refers to the problem of determining the joint angle of the manipulator given the end pose of the manipulator. When the task at the end of the redundant manipulator is a closed curve, each joint may not be able to return to the initial position. This phenomenon is called the joint angle deviation phenomenon, or ...

AI Technical Summary

Problems solved by technology

The redundant manipulator is also disturbed by periodic noise, which may cause the repeated motion planning of the redundant manipulator to fail

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