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Track generation method of mobile operation robot based on second-order cone programming

A second-order cone planning and mobile operation technology, applied in the field of robotics, can solve the problems of no application of mobile operation robots, long time consumption, complex dynamic equations, etc.

Active Publication Date: 2020-07-10
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The advantage of this method is that it can take into account the dynamic performance. The disadvantage is that when the robot has many degrees of freedom and the structure is relatively mixed, the time consumption will be longer because the dynamic equation becomes extremely complicated.
Therefore, the current trajectory method based on the second-order cone planning has not been applied to the field of mobile robots.

Method used

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  • Track generation method of mobile operation robot based on second-order cone programming
  • Track generation method of mobile operation robot based on second-order cone programming
  • Track generation method of mobile operation robot based on second-order cone programming

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Embodiment 1

[0205] This embodiment discloses a method for generating a trajectory of a mobile robot based on second-order cone planning. The specific implementation steps are as follows:

[0206] Step 1: the robot involved in the embodiment of the present invention such as figure 1 As shown, the path planned by the RRT-Connect algorithm is as follows figure 2 As shown, its chassis is a cuboid with a length of 60cm, a width of 40cm, and a height of 20cm. 2 . There are four omnidirectional mecanum wheels on the chassis. The mechanical arm loaded on the chassis has four cylindrical connecting rods, the first connecting rod is 0.1m long and the radius is 0.03m; the second connecting rod is 0.5m long and the radius is 0.03m; the third connecting rod The length is 0.1m and the radius is 0.03m; the fourth connecting rod is 0.4m long and the radius is 0.03m. Then the end of the fourth connecting rod is connected with a mechanical gripper, for the convenience of calculation, its mass and ine...

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Abstract

The invention discloses a track generation method of a mobile operation robot based on second-order cone programming. According to the method, a mobile object-grabbing programming process of a mobileoperation robot is decomposed into a path programming process and a process of programming an appropriate track on the basis of the path programming process. The method comprises the following steps:firstly, programming an operation path of a mobile operation robot by using an existing RRT-Connect method; secondly, deducing a kinetic equation of the whole mobile operation robot by utilizing a Jacobian matrix of the whole mobile operation robot and a Lagrange equation; thirdly, converting multi-dimensional track programming of the mobile operation robot into a one-dimensional pseudo track programming problem, and converting the problem into a standard form of second-order cone programming; and finally, completing programming by utilizing a Sedumi second-order cone programming package of matlab. According to the method provided by the invention, the track with the shortest time under the dynamic constraint or the track with the shortest time and the minimum energy consumption can be provided for a given path in real time.

Description

technical field [0001] The invention relates to a method for generating a trajectory of a mobile operating robot based on second-order cone planning, and belongs to the field of robot technology. Background technique [0002] The mobile operating robot combines the mobile chassis with the operating arm, which can effectively expand the working range of the robot and improve the flexibility of the robot. At present, it has been widely used in service robots, new industrial robots and military aerospace robots. According to the different mobile chassis, mobile robots can be divided into differential chassis mobile robots, omnidirectional wheel chassis mobile robots and suspension chassis mobile robots. The first two types of robots have been widely used in ground service robots and industrial robots, while the third type of robots includes underwater mobile operation robots, space operation robots, and unmanned aerial vehicles with operating arms. [0003] When a mobile robo...

Claims

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Application Information

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IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 李玮沈方岩顾建军朱世强
Owner ZHEJIANG LAB
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