Motion optimizing method for redundant degree-of-freedom robot

An optimization method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor optimization results

Inactive Publication Date: 2020-03-06
SHENYANG GENERAL ROBOT TECH
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  • Description
  • Claims
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the inverse ki

Method used

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  • Motion optimizing method for redundant degree-of-freedom robot
  • Motion optimizing method for redundant degree-of-freedom robot
  • Motion optimizing method for redundant degree-of-freedom robot

Examples

Experimental program
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Embodiment 1

[0156] Such as figure 1 As shown, it is a schematic diagram of the configuration of a humanoid robot. This type of robot includes 7 movable joints, joint 1 to joint 7.

[0157] Such as figure 2 Shown is the kinematics construction method of the robot. In order to simplify the calculation process, both the base coordinate system and the first joint coordinate system are translated to the second joint; the tool coordinate system is represented by the seventh joint coordinate system, and it is translated to the sixth joint.

[0158] The general solution of the inverse Jacobian kinematics problem for redundant robots is:

[0159]

[0160] in, Indicates the joint space velocity, J is the Jacobian matrix, J + is the P-M pseudo-inverse matrix of the Jacobian matrix, y is an arbitrary vector, is the Cartesian space velocity of the robot, is the minimum norm solution, and defines the end motion of the robot; I is the identity matrix, (I-J + J) y is a homogeneous solution,...

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Abstract

The invention relates to the field of redundant robot motion control research, in particular to a motion optimizing method for a redundant degree-of-freedom robot. The motion optimizing method comprises the steps that a gradient projection method is adopted as the basis, and a joint angle limiting position index and an operability index are adopted for optimizing the gradient projection method. The technical problems that in the prior art, existing gradient projection methods are poor in redundant degree-of-freedom robot inverse kinematics solution optimizing effect, and accumulated errors canbe generated are solved. The problem that the redundant degree-of-freedom robot inverse kinematics solution optimizing effect is poor is solved. The motion optimizing method has higher practicabilityfor the redundant mechanism inverse kinematics solution method, and the robot can obtain the more ideal joint space optimizing effect, the higher position resolving precision and smaller motion tracking errors.

Description

technical field [0001] The invention relates to the research field of motion control of redundant robots, in particular to a motion optimization method of a redundant degree of freedom robot. Background technique [0002] With the continuous development of science and technology and production capacity, robots are more widely used in various fields. For example, in the production workshops of large automobile manufacturers and in the intelligent surgery centers of tertiary hospitals, the application of robots can be seen everywhere. In most cases, people need robots to be able to complete specified actions, such as the preoperative positioning of minimally invasive surgical robots. This discipline for studying how robots move is called robot kinematics. Robot kinematics can be divided into two categories: forward and inverse. Forward kinematics refers to knowing the joint space of the robot to find the end position and attitude of the robot; inverse kinematics refers to fin...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 陈鹏李洪谊刘薇薇辛亮曹建伟李朋王圆星郭洪月
Owner SHENYANG GENERAL ROBOT TECH
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