Real-time obstacle avoidance method of collaborative robot

Abstract

The invention discloses a real-time obstacle avoidance method of a collaborative robot. The method comprises the steps that an obstacle avoidance model is established in advance to build an inequationwhich describes real-time obstacle avoidance of the robot, the minimum speed norm is selected as a redundancy analysis scheme, a motion control mode of a mechanical arm is designed, the physical constraint of the mechanical arm is modeled, the obstacle avoidance problem of the mechanical arm is modeled, the obstacle avoidance problem model of the mechanical arm is optimized and solved, the jointangular velocity control quantity of the robot mechanical arm is obtained and sent to a mechanical arm controller, and the mechanical arm is controlled to avoid obstacles. According to the method, offline planning is not needed, the proposed obstacle avoidance algorithm can achieve avoidance for static and dynamic obstacles without affecting the operation required to be executed by an end-effector, the two operations are carried out at the same time without contradiction, the proposed obstacle avoidance algorithm can simultaneously avoid the physical overrun of the mechanical arm, and in otherwords, the joint angle and angular velocity do not exceed practical limits.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a real-time obstacle avoidance method for a collaborative robot. Background technique [0002] With the development of science and technology, a new generation of robots represented by collaborative robots has been widely used in industry, agriculture, medical care, companionship and other fields. Different from traditional industrial robots, collaborative robots and humans coexist in the same space. Therefore, robots must have good real-time obstacle avoidance capabilities and be able to avoid static and dynamic obstacles in complex multilateral environments in real time to ensure human-machine safety. At present, most of the obstacle avoidance algorithms for robots focus on mobile robots. Due to the more complex structure of the mechanical arm, the obstacle avoidance problem of the whole body must be considered in the obstacle avoidance process, and the difficulty of algorithm desi...

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Problems solved by technology

However, this type of method generally has a local minimum problem

Moreover, for robotic arms with redundant degrees of fre

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