Unlock instant, AI-driven research and patent intelligence for your innovation.

A 2r-p-2r-p-2r Manipulator Motion Planning Method Applied to Tunnel Wet Spraying

A 2R-P-2R-P-2R, motion planning technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as poor real-time performance, large amount of calculation, and inability to meet high real-time performance, and achieve accuracy High, real-time effects

Active Publication Date: 2022-06-28
HARBIN INST OF TECH
View PDF13 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that it is difficult to deal with inequality constraints, the amount of calculation is large, and the real-time performance is poor. It cannot meet the high real-time requirements of the tunnel wet spraying operation for the control of the mechanical arm.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A 2r-p-2r-p-2r Manipulator Motion Planning Method Applied to Tunnel Wet Spraying
  • A 2r-p-2r-p-2r Manipulator Motion Planning Method Applied to Tunnel Wet Spraying
  • A 2r-p-2r-p-2r Manipulator Motion Planning Method Applied to Tunnel Wet Spraying

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0102] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0103] A 2R-P-2R-P-2R robotic arm motion planning method applied to tunnel wet spraying. In this example, the schematic diagram of the 2R-P-2R-P-2R robotic arm configuration is as follows figure 1 As shown, the robotic arm consists of 8 joints. The first joint of the 2R-P-2R-P-2R robotic arm is a rotary joint, the second joint is a rotary joint, the third joint is a linear joint, and the fourth joint is a The rotary joint, the fifth joint is a rot...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a motion planning method for a 2R-P-2R-P-2R mechanical arm applied to tunnel wet spraying. Step 1: Use the standard D-H method to model the 2R-P-2R-P-2R manipulator; Step 2: Use the model to analyze the forward kinematics of the 2R-P-2R-P-2R manipulator; Step 3 : In the actual tunnel wet spraying operation, two constraints need to be added when the connecting rod of the sixth joint of the manipulator is parallel to the direction of the tunnel axis; Step 4: Using the two constraints, convert the incomputable eight-degree-of-freedom inverse solution problem into Inversely solve the problem for a computable six degrees of freedom, and then calculate the inverse kinematics solution of the manipulator; Step 5: The manipulator controller drives each joint of the manipulator according to the calculation results of step 3 so that the manipulator can effectively and accurately complete the given end planning task. The invention has small calculation amount and strong real-time performance.

Description

technical field [0001] The invention belongs to the field of mechanical arm control, and in particular relates to a 2R-P-2R-P-2R mechanical arm motion planning method applied to tunnel wet spraying. Background technique [0002] The 2R-P-2R-P-2R manipulator is an eight-degree-of-freedom redundant manipulator used for tunnel wet spraying. Its joints are composed of: the first joint is a rotary joint, the second joint is a rotary joint, The three joints are linear joints, the fourth joint is a rotary joint, the fifth joint is a rotary joint, the sixth joint is a linear joint, the seventh joint is a rotary joint, and the eighth joint is a rotary joint. [0003] Motion planning is an important issue in the application research of redundant manipulators, that is, given the desired trajectory of the end of the manipulator, we need to calculate the corresponding joint variables of the manipulator in real time. The traditional redundant manipulator control method is mainly based on...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06B25J9/16
CPCB25J9/06B25J9/1605B25J9/1612B25J9/1664
Inventor 刘刚峰孙宪超刘玉斌李长乐张学贺李戈赵杰
Owner HARBIN INST OF TECH