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Trajectory planning method for real-time collision avoidance of redundant double-arm service robot and stable operation method

A service robot, trajectory planning technology, applied in the field of robotics

Active Publication Date: 2019-11-08
HEBEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0020] The purpose of the present invention is to provide a trajectory planning method for real-time collision avoidance of a redundant dual-arm service robot, which can overcome the shortcomings of existing obstacle avoidance trajectory planning methods, and is a safe and effective collision avoidance trajectory that is easy to implement and popularize. The planning method is especially suitable for operating tasks in complex operating environments that require high safety performance, such as home service environments, etc., and can effectively solve the problem of collision avoidance for redundant dual-arm robots

Method used

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  • Trajectory planning method for real-time collision avoidance of redundant double-arm service robot and stable operation method
  • Trajectory planning method for real-time collision avoidance of redundant double-arm service robot and stable operation method
  • Trajectory planning method for real-time collision avoidance of redundant double-arm service robot and stable operation method

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Embodiment

[0097] Embodiment: A trajectory planning method for real-time collision avoidance of a redundant dual-arm service robot, characterized in that the structural schematic diagram of the redundant dual-arm robot when grasping an object is as follows Figure 4 As shown, the i-th link 15 of the master arm, the j-th link 20 of the slave arm and the environmental obstacle k19 are taken as the research objects, such as Figure 5 Shown; analyze the shortest distance between the i-th connecting rod 15 of the main arm and the environmental obstacle k19, such as Figure 6 Shown; When analyzing the j-th link 20 of the slave arm as the obstacle of the i-th link 15 of the master arm (replaced by the starting joint 21 and the end joint 22 of the j-th link 20 of the slave arm), the master The geometric relationship between the i-th link 15 of the arm and the obstacles 21, 22 is as follows Figure 7 Shown; analyze the geometric relationship between the jth connecting rod 20 of the slave arm and...

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Abstract

The invention discloses a trajectory planning method for real-time collision avoidance of a redundant double-arm service robot. The trajectory planning method comprises the steps of analyzing the shortest distance between a main arm connecting rod and an environmental obstacle; analyzing the relation between the main arm connecting rod and an obstacle when an auxiliary arm connecting rod is takenas the obstacle; analyzing the relation between the auxiliary arm connecting rod and the environmental obstacle; and analyzing the relation between the auxiliary arm connecting rod and the obstacle when the main arm connecting rod is taken as the obstacle. The trajectory planning method is simple and practicable, easy to operate, and capable of changing obstacle avoidance speed in real time; the movement of each joint of the redundant double-arm service robot is continuous and stable; and it can be guaranteed that the nearest distance between the connecting rods of double arms of the robot andthe nearest distance between each connecting rod and the environment obstacle are always larger than the set safety distance.

Description

[0001] (1) Technical field: [0002] The invention relates to the technical field of robots, in particular to a trajectory planning method and a stable operation method for real-time collision avoidance of a redundant dual-arm service robot. [0003] (two) background technology: [0004] With the continuous development of robot technology, China has become the largest robot market in the world. In order to cope with the rising cost of industrial production and promote the intelligent adjustment of industrial structure, so as to further improve the efficiency of industrial production, industrial robots have unparalleled advantages in industrial production. Advantages are gradually replacing human productive labor. [0005] With the acceleration of the global automation process, people have put forward higher requirements for robots, not limited to industrial production, especially in China. Since the 1990s, our country has gradually entered the state of population aging. We hope...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1682B25J9/16
Inventor 郭士杰杨志强孙磊
Owner HEBEI UNIV OF TECH
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