A path planning method, device and control system for an ultra-redundant manipulator

A path planning, robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the inefficiency of path planning, reduce the efficiency of real-time online path planning of super-redundant manipulators, and calculate the inverse solution of super-redundant manipulators increase in volume, 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

[0003] However, due to the many degrees of freedom of the super-redundant manipulator, its kinematic equations are very complex, which leads to a sharp increase in the calculation of the inverse solution of the super-redundant manipulator, thereby reducing the real-time online path planning efficiency of the super-redundant manipulator
Therefore, how to solve the problem of low efficiency of path planning due to the application of super-redundant manipulators has become a technical problem to be overcome by those skilled in the art

Method used

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  • A path planning method, device and control system for an ultra-redundant manipulator
  • A path planning method, device and control system for an ultra-redundant manipulator
  • A path planning method, device and control system for an ultra-redundant manipulator

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Embodiment 1

[0046] An embodiment of the present invention provides a path planning method for a super-redundant robotic arm, such as figure 1 as shown, figure 1 It is a schematic structural diagram of a super-redundant robotic arm in an embodiment of the present invention; wherein, the super-redundant robotic arm includes N arm segments in total, which are respectively marked as S 1 to S N , where S 1 Indicates from base B 0 nearest first arm segment, S N Indicates from base B 0 The farthest arm segment; specifically, n represents the number of segments contained in each arm segment of the super-redundant manipulator, and each segment corresponds to a joint one by one, and the two segments are connected by joints in turn, then B i,j The j-th subsection of the i-th arm segment of the hyper-redundant manipulator, J i,j Indicates the j-th joint of the i-th arm segment of the super-redundant manipulator, and E represents the end of the super-redundant manipulator. refer to figure 2 ,...

Embodiment 2

[0143] In the embodiment of the present invention, based on the path planning method of the hyper-redundant manipulator described in Embodiment 1, it further includes after step S50 and before step S60:

[0144] S510. Obtain terminal expected position information and terminal expected pointing information according to expected arm shape parameters;

[0145] S511. Set the error range requirement. When the error between the terminal expected position information and the target expected position information meets the error range requirement, and when the error between the end expected pointing information and the target’s expected pointing information meets the error range requirement, execute step S60, otherwise return Execute step S20.

[0146] Specifically, after obtaining the parameters of the current equivalent arm shape, obtain the current position information and the current pointing information of the end of the equivalent arm shape of the super-redundant manipulator, and...

Embodiment 3

[0148] refer to Figure 5 , an embodiment of the present invention provides a path planning device for a super-redundant manipulator, wherein the super-redundant manipulator includes a plurality of arm segments, and each of the plurality of arm segments includes a plurality of subsections. Joint connection, multiple joints in the arm segment are labeled in order, and the odd-numbered joints are set as Pitch-Yaw type, and the even-numbered joints are set as Yaw-Pitch type, which includes:

[0149]The arm shape description parameter acquisition and expected path planning module is used to obtain the arm shape description parameters of the arm segment and plan the expected path of the super-redundant manipulator, take multiple expected nodes on the expected path, and set an expected node at The head and end of the expected path, and the first expected node as the target expected node;

[0150] The current equivalent arm shape parameter acquisition module is used to obtain the cu...

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Abstract

The invention discloses an ultra-redundant mechanical arm path planning method and device and a control system. The method comprises the following steps: after arrangement of a mechanical arm, arm shape description parameters are obtained, and an anticipant path with multiple anticipant nodes is planned; with the first anticipant node as a target anticipant node, parameters of the target anticipant node are obtained; terminal present parameters and Jacobi matrixes of equivalent arm shapes are obtained through the arm shape description parameters; a terminal anticipant speed is obtained throughcombination of the terminal present parameters and the target anticipant node; anticipant arm shape parameters of each arm section are obtained based on iteration of the Jacobi matrixes and the terminal anticipant speed; joint driving parameters are obtained according to the obtained anticipant arm shape parameters; the terminal of the mechanical arm is driven to the target anticipant node according to the joint driving parameters; and the path planning of the mechanical arm is finished with each anticipant node traversed as the target anticipant node. The efficient ultra-redundant mechanicalarm path planning method solves the technical problem of complex calculation in an ultra-redundant mechanical arm path planning method in the prior art.

Description

technical field [0001] The invention relates to the technical field of path planning of a manipulator, in particular to a path planning method, device and control system for a super-redundant manipulator. Background technique [0002] With the continuous development of science and technology, many large-scale equipment are widely used in various fields after research and development. However, because large equipment often has a very complicated internal structure, the operating space for maintenance or detection of these large equipment is very narrow. In order to realize the maintenance or detection work on these large-scale equipment in a narrow operating space, it is often necessary to control the ultra-redundant mechanical arm to enter the interior of the large-scale equipment to perform corresponding operations. The super-redundant manipulator has the ability to traverse narrow spaces, avoid obstacles, joint singularity and joint overrun, and the super-redundant manipu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/1643B25J9/1664B25J13/00
Inventor 徐文福胡忠华刘天亮梁斌郭笑霖
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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