Mapping method for C-space line obstacles of multi-arm robot

A mapping method and robot technology, applied in the directions of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as large amount of calculation, and achieve the effect of reducing difficulty and calculation amount, and avoiding collisions

Inactive Publication Date: 2019-06-25
UNIV OF JINAN
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Problems solved by technology

Euclidean space is also called the robot workspace. This space method is often used in the path planning of serial industrial robots, because the joints of industrial robots are connected in series, and it is easy to realize the Cartesian coordinate system and the joint coordinate system through the Jacobian matrix. conversion, but the amount of calculation is relatively large

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  • Mapping method for C-space line obstacles of multi-arm robot
  • Mapping method for C-space line obstacles of multi-arm robot
  • Mapping method for C-space line obstacles of multi-arm robot

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Embodiment Construction

[0017] First of all, we need to understand the concept of critical collision joint angle, which refers to the joint angle formed when the connecting rod L collides with the feature point P, and the joint angle formed when the connecting rod L is in contact with the feature point P when it rotates clockwise is called the upper criticality Collision joint angle; the joint angle formed by contacting the feature point P when the connecting rod L rotates counterclockwise is called the lower critical collision joint angle. The entire C-space obstacle boundary of a point can be described by the upper and lower critical collision joint angles.

[0018] Such as figure 1 As shown, assume that the joint value of the front end of the connecting rod L has been determined, and the joint J k The range of motion is [-π, π], the connecting rod L collides with the line segment S, and the two endpoints of the line P 1 , P 2 As a feature point, transforming the situation into a collision bet...

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Abstract

The invention discloses a mapping method for C-space line obstacles of a multi-arm robot, and relates to the field of robot obstacle avoidance control. C-space is a common obstacle mapping space, obstacles in the work space are simplified into point models, line models and the like, critical collision angles of corresponding feature points and lines of a mechanical arm model are solved and simplified to obtain the upper boundary and the lower boundary of the obstacles of the C-space, and the whole mapping boundary of the obstacles in the C-space is obtained through a union set. According to the new C-space mapping method for feature line segments, the interference positions of the line segments and the models are divided into four conditions to be discussed, corresponding mathematic modelsand the critical collision angle solution method are obtained, and finally the critical collision angle solution method of any line segment in the plane is summarized. The method has the advantages that all interference manners of line obstacles and mechanical arms are considered to the greatest extent, the calculated amount of solution of the mechanical arm free space is reduced, and colliding between all joints of the multi-arm robot is avoided.

Description

technical field [0001] The invention belongs to the field of robot obstacle avoidance control, and in particular relates to a mapping method for C-space line obstacles of a multi-arm robot. Background technique [0002] At present, the multi-arm robot and its system are most used in the field of life and medical treatment. The mechanical arms of the multi-arm robot can cooperate with each other to complete more complex actions and realize more diverse functions. However, the path planning and control of multi-arm robots is more complicated than that of common serial industrial robots. How to accurately and effectively obtain the optimal barrier-free path of the robotic arm is one of the current research hotspots. [0003] The robot configuration and workspace description are different, and the path planning methods are also different, but they are all based on the two planning spaces of Euclidean space and C-space. Euclidean space is also called the robot workspace. This sp...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 赵洪华赵建胡志通曹树坤鲁守银公续银韩其飞林逸飞
Owner UNIV OF JINAN
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