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Finite time planning method for cooperated repeated motion of double arm manipulator

A repetitive movement, limited time technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc.

Active Publication Date: 2020-01-17
ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The most widely used pseudo-inverse control method is widely used in the motion control of manipulators, but it cannot make the manipulator complete repetitive motion tasks

Method used

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  • Finite time planning method for cooperated repeated motion of double arm manipulator
  • Finite time planning method for cooperated repeated motion of double arm manipulator
  • Finite time planning method for cooperated repeated motion of double arm manipulator

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Embodiment Construction

[0039] The present invention will be further described below in conjunction with the accompanying drawings.

[0040] refer to Figure 1 to Figure 6 , a finite-time planning method for dual-arm manipulator cooperative repetitive motion based on quadratic programming, comprising the following steps: 1). Determine the expected target trajectory of the left and right end effectors of the dual-arm manipulator and the expected angles of each joint; 2). Establish Redundant dual-arm manipulator repetitive motion quadratic programming scheme; 3). Construct a final state network with finite time convergence characteristics, solve the quadratic programming problem, and obtain the angular trajectory of the left and right kinematic joints; 4). Send the calculated results to Drive the movement of the manipulator to the lower computer controller.

[0041] In the step 1), first set the angles of each joint that the dual-arm manipulator expects to close together,

[0042]

[0043]

[0...

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Abstract

The invention relates to a finite time planning method for a cooperated repeated motion of a double arm manipulator. The method comprises the following steps: 1) determining expected target tracks ofleft and right end executors of a double arm manipulator and angular expected folding angles of joints of the double arm manipulator; 2) designing a secondary optimization index to form a double arm manipulator cooperated repeated motion planning scheme, wherein an initial joint angle of the double arm manipulator in action motion can be appointed randomly; 3) introducing an initial correcting factor to construct a final state network model converged by a finite time and solving a time varying problem by means of a network equation; and 4) sending a calculated result to a controller to controlthe cooperated repeated motion of the double arm manipulator. The method is relatively high in precision and converges at the appointed time. When the initial positions of the joint angles of the left and right arms deviate from expected positions, after the moving joint angles of the double arm manipulator finish track tasks, the double arm manipulator can return to the initial expected positionwithin the appointed finite time to achieve a repeated moving task.

Description

technical field [0001] The invention belongs to the collaborative repetitive motion planning and control technology of a double-arm multi-link manipulator, and specifically relates to an inverse kinematics solution method that converges within a limited time. When the initial position of the left and right kinematic joint angles of the dual-arm manipulator deviates from the expected trajectory, by introducing the initial correction factor, a final state network based on finite time convergence is constructed, and the trajectory task is finally completed within the specified time. Background technique [0002] A redundant manipulator is a terminal active mechanical device with a degree of freedom greater than the minimum degree of freedom required by the task space. It can be used in industries such as assembly, processing, and welding. When the end effector of the manipulator performs repeated motions in the Cartesian operation space, the motion trajectory of the closed end ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 孔颖周俊文唐青青胡汤珑高畅郑志军叶绿
Owner ZHEJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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