Robot smooth obstacle avoiding movement scheduling method based on tangent recursion

A motion planning and robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as complex trajectory calculation, achieve a small amount of calculation, continuous acceleration and jerk without sudden change, and obstacle avoidance trajectory smooth without impact. Effect

Inactive Publication Date: 2019-01-18
SHANTOU UNIV
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Problems solved by technology

The above methods mostly plan the path in the task space, and the calculation of the smooth trajectory is more complicated.

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  • Robot smooth obstacle avoiding movement scheduling method based on tangent recursion
  • Robot smooth obstacle avoiding movement scheduling method based on tangent recursion
  • Robot smooth obstacle avoiding movement scheduling method based on tangent recursion

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Embodiment Construction

[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0039] A robot smooth obstacle avoidance motion planning method based on tangent recursion in the embodiment of the present invention, its idea is to obtain the collision-free path point with a geometric method under the condition of a certain safety distance, the calculation amount is relatively small, and then use the ridge model After the inverse solution is obtained by the state method, a smooth obstacle avoidance motion path is obtained through seven times of B-spline interpolation. The speed, acceleration, and jerk of each driving joint are continuous without sudden changes, and the motion characteristics are good. In theory, no impact is achieved.

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the p...

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Abstract

The embodiment of the invention discloses a robot smooth obstacle avoiding movement scheduling method based on tangent recursion. The method is suitable for a super-redundancy robot. The method includes the following steps of firstly, establishing a spherical obstacle in a task space, forming a recursion tangent for the obstacle to intersect with a safety distance circle so as to obtain obstacle avoiding non-collision route points; secondly, obtaining the position inverse solution of the super-redundancy robot through a ridgeline modal method so as to obtain joint space postures correspondingto the non-collision route points; thirdly, conducting seven times of B spline interpolation on the postures to obtain a robot smooth obstacle avoiding movement route. The obtained robot movement route is smooth, and the speeds, accelerations and jerks of all driving joints of the robot in the movement process are continuous without sudden changes. When the redundancy of the robot is increased, the method has the more remarkable advantage of being small in computation amount.

Description

technical field [0001] The invention relates to a robot path planning method, in particular to a robot smooth obstacle avoidance motion planning method based on tangential recursion. Background technique [0002] Super-redundant robots can effectively make up for the shortcomings of traditional robots such as less freedom, insufficient obstacle avoidance ability, and poor flexibility. It has become one of the research hotspots at home and abroad in recent years. Robots are more and more widely used in changing environments such as interstellar aviation, underwater detection, disease inspection, pipeline maintenance, and disaster relief. With the widespread application of robots, the changing environment also puts forward requirements for the robot's obstacle avoidance ability. With the increase of redundancy, the structure of ultra-redundant robots becomes more and more complex, the calculation amount of kinematics solution is increasing, and the solution is becoming more a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666
Inventor 赵永杰郑增浩薛艳芬陈成伟
Owner SHANTOU UNIV
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