A Real-time Obstacle Avoidance Method for Collaborative Robots

A robot and obstacle avoidance technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of local minima, no obstacle avoidance strategy, etc., to achieve good flexibility and avoid physical overrun effects.

CN110682286BActive Publication Date: 2020-07-28INST OF INTELLIGENT MFG GUANGDONG ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2020-07-28

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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.
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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 des...

Examples

Embodiment

[0036] The real-time obstacle avoidance method of the collaborative robot provided in this embodiment mainly includes the following steps:

[0037] (1) Construction of obstacle avoidance model

[0038] The schematic diagram of the obstacle avoidance of the robot arm is as follows: figure 1 shown. Since the mechanism information of the manipulator is consistent, a group of key points A can be evenly selected on each connecting rod of the manipulator body i , and define a radius d 1 , so that at point A i is the center of the ball, d 1 A collection of a series of spheres with radius can completely enclose the body of the manipulator; for example figure 1 As shown on the left; in the same way, by obtaining the image information of the obstacle avoidance, select a group of B j and radius d 2 To wrap the obstacle; in order to avoid collision, select a certain margin Δd>0, and define the safety distance d=d 1 +d 2 +Δd, during the working process of the robot, if all A i an...