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A real-time collision avoidance trajectory planning method and smooth running method for a redundant dual-arm service robot

A service robot and trajectory planning technology, applied in the field of robotics, can solve demanding operation tasks, such as home service environment and other problems, and achieve the effect of continuous movement

Active Publication Date: 2022-07-19
HEBEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0017] 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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  • A real-time collision avoidance trajectory planning method and smooth running method for a redundant dual-arm service robot
  • A real-time collision avoidance trajectory planning method and smooth running method for a redundant dual-arm service robot
  • A real-time collision avoidance trajectory planning method and smooth running method for a redundant dual-arm service robot

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Embodiment

[0092] Embodiment: A real-time collision avoidance trajectory planning method for a redundant dual-arm service robot, characterized in that the schematic structural diagram of the redundant dual-arm robot grasping an object is as follows: Figure 4 As shown, take the i-th link 15 of the master arm, the j-th link 20 of the slave arm and the environmental obstacle k19 as the research objects, as shown in Figure 5 shown; analyze the shortest distance between the i-th link 15 of the main arm and the environmental obstacle k19, as shown in Image 6 shown; when analyzing the jth link 20 of the slave arm as the obstacle of the ith link 15 of the master arm (replaced with the starting joint 21 and the end joint 22 of the jth link 20 of the slave arm), the master arm The geometric relationship between the ith link 15 of the arm and the obstacles 21 and 22 is as follows Figure 7 shown; the geometric relationship between the jth link 20 of the slave arm and the environmental obstacle ...

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Abstract

A real-time collision avoidance trajectory planning method for a redundant dual-arm service robot. By analyzing the shortest distance between the main arm link and environmental obstacles, and the relationship between the main arm link and the obstacle when the link of the slave arm is used as an obstacle , The relationship between the slave arm link and the environmental obstacles, when the main arm link is regarded as an obstacle, the relationship between the slave arm link and the obstacle, this method is simple and easy to operate, easy to operate, and can change the obstacle avoidance speed in real time , the movement of each joint is continuous and stable, and it can ensure that the shortest distance between each link of the arms and between the link and the environmental obstacle is always greater than the set safety distance.

Description

(1) Technical field: [0001] The invention relates to the technical field of robots, in particular to a real-time collision avoidance trajectory planning method and a smooth running method for a redundant dual-arm service robot. (2) Background technology: [0002] 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. [0003] 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, my country has gradually entered a state of aging population. We hope Robots can be integrated...

Claims

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Application Information

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Patent Type & Authority Patents(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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