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Trajectory planning method and device for flexible robot constrained by arm shape line

A trajectory planning, robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as unfavorable real-time motion control of flexible robots, low computational efficiency, complex optimization equations and optimization indicators, etc.

Active Publication Date: 2021-01-12
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Traditional research only considers the end of the flexible robot to reach the target position, or simply avoids environmental obstacles through gradient projection, without considering the relationship between the cylindrical narrow space and the arm shape
Moreover, the traditional optimization method solves such problems with low calculation efficiency or the optimization equation and optimization index are too complicated, which is not conducive to the real-time motion control of flexible robots.

Method used

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  • Trajectory planning method and device for flexible robot constrained by arm shape line
  • Trajectory planning method and device for flexible robot constrained by arm shape line
  • Trajectory planning method and device for flexible robot constrained by arm shape line

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Embodiment 1

[0041] Embodiment 1 of the present invention provides a trajectory planning method for an arm-shaped line-constrained flexible robot. This embodiment is applicable to an arm-shaped line-constrained flexible robot (that is, a joint-shaped line-constrained flexible robot. ), the target area of ​​the operation is the cylindrical slit, and the part of the soft robot entering the cylindrical slit is defined as the inner arm segment of the slit, and the part outside the cylindrical slit is the outer arm segment of the slit.

[0042] figure 1 The implementation flowchart of the trajectory planning method for the arm type line constrained flexible robot provided by the embodiment of the present invention, as shown in figure 1 As shown, the method includes the following steps:

[0043] S1: Construct a spatial mapping model and obtain relative deviation data of the soft robot.

[0044]In this embodiment, the spatial mapping model can optionally be unified modeling of the cylindrical s...

Embodiment 2

[0147] This embodiment provides a trajectory planning device for a flexible robot constrained by an arm shape line, which is used to implement the method described in Embodiment 1, such as Figure 5 As shown, it is a structural block diagram of the trajectory planning device for the arm-shaped line constrained flexible robot of this embodiment, including:

[0148] Obtaining deviation data module 10: used to construct a space mapping model and obtain relative deviation data of the flexible robot, the relative deviation data includes: the relative pose deviation between the end point and the expected point of the flexible robot, the arm shape vector and the expected position of the arm segment in the slit The position deviation of the arm shape line vector, the minimum distance deviation between the outer arm section of the slit and the obstacle;

[0149] Threshold judgment module 20: used for judging whether the end point reaches the target position point of the target area acc...

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Abstract

The invention discloses a track planning method and device for restraining a flexible robot by arm molded lines, and relates to the field of robot control. According to the method, relative deviationdata of a flexible robot is obtained, according to the acquired relative deviation data and a threshold value judgment condition, whether an end point reaches a target position point of a target areaor not is judged, when the threshold value judgment condition is met, the end point is considered to reach the target position point, and when the threshold value judgment condition is not met, according to the relative deviation data, speed data of the next moment of the flexible robot is acquired and the joint desired angular speed of the flexible robot is calculated, and according to the jointdesired angular velocity, the joint control quantity of the next moment is acquired to drive each joint of the flexible robot to move to reach the target position point. The track planning of the endpoint is realized, by combining the pose characteristics of a slit inner arm section and a slit outer arm section, a part of the flexible robot which enters a slit does not collide with a slit wall, and a part outside the slit realizes the obstacle avoidance function, so that track planning efficiency of restraining the flexible robot by the arm molded lines is improved, and the control precisionis considered.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a trajectory planning method and device for a flexible robot constrained by an arm shape line. Background technique [0002] Nowadays, there are higher and higher requirements for the environmental adaptability of intelligent robots and the ability to overcome environmental restrictions. Due to the small working space and insufficient mobility of traditional industrial robots, especially the weak adaptability to some unstructured environments, In addition, in the face of the limitation of degrees of freedom and the difficulty of passing through various obstacles in a narrow environment with a rigid arm, there are more and more related researches on rope-driven ultra-redundant robots that can meet the requirements of operations in narrow spaces. Yu robot has the advantages of many degrees of freedom, small arm, strong movement flexibility, and good environmental adaptability. It can m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664
Inventor 徐文福彭键清牟宗高梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL