A Method of Obstacle Avoidance Based on Probing Perception of Manipulator

Abstract

The invention discloses an obstacle avoiding method with a mechanical arm probing and perceiving function. The obstacle avoiding method comprises the following steps that the initial joint angle, target position and expected track of a mechanical arm are set; a kinematic model of the mechanical arm is established; whether the mechanical arm collides or not is detected in real time, and if the mechanical arm does not collide, a track tracking master task is executed, the mechanical arm tracks the tail end track all the time, obstacle avoiding is not considered, and the mechanical arm stops moving after reaching a target point; and if the mechanical arm collides, an obstacle avoiding motion slave task is executed, the mechanical arm is controlled to return according to an original route andmove to the state at previous any tk moment of the mechanical arm, and therefore the mechanical arm is separated from a colliding area and cannot continue to collide, and then an obstacle avoiding strategy for probing and perceiving is executed. According to the method, whether the mechanical arm collides or not is acquired in real time, then a corresponding virtual colliding space is built according to the colliding position, probing and perceiving obstacle avoiding is executed, and the work efficiency is improved.

Description

technical field [0001] The invention belongs to the field of industrial robot path planning, and specifically relates to an obstacle avoidance method based on the detection and perception of a mechanical arm. The obstacle avoidance method performs real-time collision detection, effectively plans obstacle avoidance for obstacles, and realizes obstacle avoidance under non-visual conditions. reaction. Background technique [0002] With the gradual expansion of the application of robotic arms in various fields, how to ensure the safety of the robotic arm body and objects in the environment is one of the key research issues in the face of complex task requirements and unknown operating environments. When the end of the manipulator encounters an obstacle on the task trajectory, the traditional collision detection algorithms are mostly based on external sensors, which not only increases the cost of the manipulator and the complexity of the control system, but also increases the cos...

AI Technical Summary

Problems solved by technology

The common point of these studies is that after a collision is detected, the task performed by the robotic arm will be terminated. After the operator leaves and safety is ensured, the robotic arm will be re-planned to continue working, which is not conducive to efficient automated production.

Images