Redundant manipulator acceleration layer multi-objective programming method

Abstract

The invention relates to a redundant manipulator acceleration layer multi-objective programming method which comprises the steps of respectively designing an optimal performance index and inequation data of an acceleration layer; combining a programming task of a terminal of a manipulator and physical limits of joints of the manipulator, and building an acceleration layer multi-objective programming scheme, wherein the scheme is restrained by an acceleration layer jacobian matrix equation, a manipulator kinetic equation, an obstacle avoidance inequation, a joint angle limit, a joint speed limit, a joint acceleration limit and a joint torque limit; transforming the multi-objective programming scheme into a standard quadratic form optimization problem, and adopting a numerical algorithm forsolving the problem; using a lower computer controller for driving the various joints of the manipulator to fulfil a given terminal programming task according to a solving result of the algorithm. According to the acceleration layer multi-objective programming scheme designed by the invention, under the circumstances that the joints of the manipulator are restricted and obstacles exist, the giventerminal programing task can be fulfilled, and the aim of repetitively moving is achieved.

Description

technical field [0001] The invention relates to the field of motion planning and control of redundant manipulators, in particular to a multi-objective planning method for acceleration layers of redundant manipulators. Background technique [0002] Redundant robotic arms are playing an increasingly important role in industrial automation production activities such as welding, assembly, and painting. Two hotspots in the application research of redundant manipulators are repetitive motion planning and obstacle avoidance: this is related to whether the manipulator can successfully complete repetitive terminal planning tasks in complex industrial environments. [0003] At present, a variety of repetitive motion planning schemes and obstacle avoidance planning schemes have been proposed and effectively applied to manipulators. However, most planning schemes can only achieve a single goal (ie, repetitive motion or obstacle avoidance), and only a few planning schemes can achieve bo...

AI Technical Summary

Problems solved by technology

Obviously, they cannot deal with the joint acceleration limit and joint torque limit of the manipulator, nor can they be directly applied to the manipulator related to acceleration or torque control, so the scope of application of the scheme is greatly limited

More importantly, due to the lack of consideration of the dynamics of the manipulator, these schemes are often prone to failure in industrial application practice, resulting in the inability of the manipulator to complete the given end-planning task.

Images