Final state network optimizing method for double-arm mechanical hand synchronous repeated motion planning

A technology of repetitive motion and network optimization, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of repetitive motion that cannot be applied to solve periodic motions, and the difficulty of predicting the motion trajectory of dual-arm manipulators. Achieve and improve the effect of convergence accuracy

Active Publication Date: 2019-06-28
ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

Due to the complexity of the calculation process, singular points in the solution process, and the limit of the physical joint angle of the manipulator, the most widel

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  • Final state network optimizing method for double-arm mechanical hand synchronous repeated motion planning
  • Final state network optimizing method for double-arm mechanical hand synchronous repeated motion planning
  • Final state network optimizing method for double-arm mechanical hand synchronous repeated motion planning

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] refer to Figure 1 to Figure 6, a final state network optimization method for dual-arm manipulator synchronous repetitive motion planning, which consists of the following four steps: 1. Determine the expected target trajectory and the expected return angle of each joint of the left and right end effectors of the dual-arm manipulator respectively. 2. Establish a Quadratic programming scheme for dual-arm manipulator with finite-time convergence characteristics for synchronous repetitive motion 3. Solve the quadratic programming problem with a finite-valued final state network to obtain the angular trajectories of the left and right kinematic joints. 4. Drive the motor to run with the result obtained from the solution, so that the robot arm can complete the trajectory task.

[0043] The first step is to determine the desired trajectory

[0044] Set the angles of ...

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Abstract

A final state network optimizing method for double-arm mechanical hand synchronous repeated motion planning comprises the following steps that firstly, the expected target tracks r*L (t) and r*R (t) of a left end effector and a right end effector of a double-arm mechanical hand and the expected drawing angles theta * L (0) and theta * R (0) of a left joint angle and a right joint angle of the double-arm mechanical hand are determined; secondly, final state attraction optimization indexes are designed, and the double-arm mechanical hand synchronous repeated motion planning scheme is formed; thirdly, a final state network model of a limited value activation function is constructed, and the final state network is used for solving a time-varying matrix equation; and fourthly, the solved resultis used for controlling various joint motors, and mechanical arms are driven to execute tasks. A double-arm mechanical hand repeated motion method high in precision and capable of achieving finite time convergence is provided, and when the initial positions of the left joint angle and the right joint angle of the mechanical hand are set at will, it is guaranteed that the double-arm mechanical hand can still effectively finish the work task, and whether various joint angles are in the expected task tracks or not does not need to be considered.

Description

technical field [0001] The present invention relates to the synchronous repetitive motion planning and control technology of a dual-arm multi-link manipulator, in particular, to a limited-time convergence performance index and a manipulator inversion method under the condition that the initial positions of the joint angles of the left and right arms of the manipulator deviate from the expected trajectory. Kinematic solution method. Background technique [0002] Robot technology is widely used in various fields and plays a huge role in production and research. The manipulator of the robot, that is, the multi-link robotic arm, can move the end effector to a specified position in space and complete the corresponding trajectory task. According to the degree of freedom (Degrees-of-Freedom, DOF), the manipulator can be divided into a redundant manipulator and a non-redundant manipulator. Redundant manipulators possess more degrees of freedom than DOF required to accomplish a giv...

Claims

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Application Information

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IPC IPC(8): B25J9/16
Inventor 孔颖唐青青周俊文陆凯杭叶绿
Owner ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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