Similarity-in-form and similarity-in-spirit combined person simulating double-arm robot motion planning control method

Abstract

The invention provides a similarity-in-form and similarity-in-spirit combined person simulating double-arm robot motion planning control method. The human motion action is converted into person simulating double-arm robot motion planning based on similarity-in-form control, and the tail end smoothness character of each mechanical arm during person simulating double-arm robot operation is similar to the person based on similarity-in-spirit control. By means of the method, the motion experience when the human carries out the task operation in the unstructured environment can be effectively usedfor reference, robot rapid planning in the unstructured environment is achieved through similarity-in-form control, the human arm motion and rigidity changing rule can be used for reference, tail endsmoothness control parameters are corrected online based on the person motion intention, accordingly, the mechanical arms show the smoothness character similar to the person when making contact with the environment or operation target, and accordingly the person simulating double-arm safety and protection robot operation task executing effect in the unstructured environment is improved.

Description

technical field [0001] The invention relates to a method for robot motion planning and compliance control. The invention more specifically relates to a motion control method applied to a humanoid double-arm security robot for simulating human operations. Background technique [0002] As one of the most valuable technologies for research and development, robotics has been widely used in various industries and has become a research direction that is highly valued at present. The robot industry is developing rapidly on a global scale. In 2015, the global robotics industry and related service markets exceeded US$10 billion, and will grow to more than US$30 billion by 2020. [0003] After more than 30 years of development, China has more than 4,000 companies related to the security industry, and more than 4.5 million security personnel. Even so, the ratio of security personnel to police personnel is still insufficient compared to developed countries. In China, the security ind...

AI Technical Summary

Problems solved by technology

[0007] Although the above method can realize the dynamic stability of the robot motion and motion planning, it cannot guarantee that its motion is similar to that of a human.

However, when the mechanical arm is in contact with the external environment, the above method cannot guarantee that its motion characteristics are similar to those of humans.

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