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Trajectory planning method and device for flexible robot constrained by arm profile

A technology of trajectory planning and robotics, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc.

Active Publication Date: 2021-03-19
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For this reason, the purpose of the present invention is to provide a trajectory planning method for an arm-shaped surface-constrained flexible robot that improves the trajectory planning efficiency when crossing a planar slit while taking into account the control accuracy.

Method used

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

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Embodiment 1

[0043] Embodiment 1 of the present invention provides a trajectory planning method for a flexible robot constrained by an arm profile. ), the target area is a planar slit.

[0044] figure 1 The implementation flowchart of a trajectory planning method for a flexible robot with arm shape constraints provided by the embodiment of the present invention, as shown in figure 1 As shown, the method includes the following steps:

[0045] S1: Construct a space mapping model and dynamically segment the flexible robot, specifically to obtain the boundary distance between the entry segment of the flexible robot and the initial section plane of the planar slit, and dynamically segment the flexible robot according to the boundary distance, and divide the flexible robot into For: inner arm segment (denoted as m,i fn,p ) and the outer arm segment (denoted as 0 f m,i-1 ).

[0046] In this embodiment, the spatial mapping model can be selected to uniformly model the planar slit of the opera...

Embodiment 2

[0118] This embodiment provides an arm shape-constrained flexible robot trajectory planning device, which is used to implement the method described in Embodiment 1, as Figure 6 As shown, it is a structural block diagram of the trajectory planning device for the arm profile constrained flexible robot of this embodiment, including:

[0119] Dynamic segmentation module 10: used to dynamically segment the flexible robot, and divide the flexible robot into: an inner arm segment and an outer arm segment;

[0120] Obtaining relative deviation data module 20: used to obtain the relative deviation data of the flexible robot, the relative deviation data includes: the relative position deviation between the expected end pose of the soft robot and the actual end pose, the normal vector of the arm profile of the inner arm section and the narrow The normal vector deviation between the seam plane normal vectors, the minimum distance between the outer arm segment and the obstacle;

[0121] ...

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Abstract

The invention discloses a method and device for planning the trajectory of an arm-shaped surface constraint flexible robot, and relates to the field of robot control. The method comprises the following steps of: segmenting the flexible robot dynamically, then obtaining the relative deviation data of the flexible robot, determining whether the tail end reaches the target position according to the relative deviation data and threshold value judgment conditions, when the threshold value judgment conditions are met, considering that the tail end reaches the target position; and otherwise, obtaining the joint controlled quantity at the next moment to drive the joints of the flexible robot to move to reach the target position, and thus, the purpose of effectively passing through a plane slit isachieved. The method and device realize the trajectory planning of the tail end, and achieve the purposes that the part of the flexible robot entering the slit does not collide with the wall of the slit and the part outside the slit avoids an obstacle by combining the pose characteristics of an inner arm section and an outer arm segment. Compared with the prior art, the method and device improve the efficiency of planning the trajectory of the arm-shaped surface constraint flexible robot and take the control accuracy into consideration.

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 profile. Background technique [0002] Nowadays, there are higher and higher requirements for the environmental adaptability of intelligent robots and the ability to overcome environmental constraints. Because flexible robots have the advantages of large movement space, movement flexibility and good environmental adaptability, they are very suitable for unstructured environments. Work such as satellite solar panel overhaul, space station truss repair, and industrial small plane slot detection. Usually this type of narrow space is a planar slit. To pass through this planar slit safely and without collision, the end of the soft robot needs to be able to track the desired target position and ensure the arm shape in the planar slit. Keep a certain distance from the plane slit, and at the same time, the ou...

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 徐文福彭键清刘天亮梁斌
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL