Super-redundant robot trajectory planning method and system based on pseudo-inverse constraint

Abstract

The invention discloses a super-redundant robot trajectory planning method and system based on pseudo-inverse constraint. The method is suitable for a super-redundant robot, especially a super-redundant robot with a lengthened ridge line. The method comprises: firstly, establishing a kinematic model of a robot; deriving a robot jacobian matrix, discretizing a robot tail end motion trail, obtainingjoint states corresponding to a series of tail end path points in a multi-time optimization solution mode by combining an objective function and related constraints of the jacobian matrix, and obtaining the motion trail of the super-redundant robot in a joint state curve interpolation mode. According to the method, the motion trail is smooth, free of sudden changes and small in fluctuation. Meanwhile, joint motion rule constraints do not exist, manual segmentation processing of the tail end path is not needed in the initialization stage, the method is particularly suitable for super-redundantrobot trajectory planning with the complex tail end path, the optimized initial value is obtained through calculation of a pseudo-inverse method, and the difficulty, difference and complexity of initial value selection of an empirical method are reduced.

Description

technical field [0001] The disclosure belongs to the technical field of robot technology and trajectory planning, and in particular relates to a super-redundant robot trajectory planning method and system based on pseudo-inverse constraints. Background technique [0002] Hyper-redundant robots have high redundant degrees of freedom and high flexibility, and have better structural performance in complex application environments such as aerospace, pipeline maintenance, and disaster relief. As the application environment and requirements change, the end path of the robot is no longer limited to the simple path of a combination of conventional straight lines and arcs. With the increase of redundant degrees of freedom, the kinematics of super-redundant robots becomes more and more complex, and its motion stability is more difficult to guarantee. In order to improve the operational performance of ultra-redundant robots and achieve motion and stability in complex environments, rob...

AI Technical Summary

Problems solved by technology

The end-following method takes the hyper-redundant robot nodes on the end path as geometric constraints, and obtains the kinematics inverse solution that satisfies the constraints to obtain the joint motion trajectory. end-path tasks and to some extent limits the kinematic performance of hyper-redundant robots

The above methods may have sudden changes in joint motion or large fluctuations in the movement of complex terminal paths

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