Manipulator motion planning method based on bias redefined neural network

Abstract

The invention discloses a manipulator motion planning method based on a bias redefined neural network. The manipulator motion planning method based on the bias redefined neural network comprises the steps of establishing a kinematics equation of a redundant manipulator according to a model and parameters of an actual manipulator; transforming the kinematics equation of the redundant manipulator into a kinematics equation of a velocity layer, and describing the kinematics equation of the velocity layer as a smooth time-varying linear equation; acquiring a joint angle of the manipulator and endtrack information, constructing a time-varying parameter matrix according to the parameters of the manipulator, the joint angle of the manipulator and the end track information, and acquiring a corresponding time derivative; designing a bias function according to the smooth time-varying linear equation; designing a time-varying linear equation solver for a redundant robot arm by redefining a recurrent neural network with the bias function and combining the time-varying parameter matrix and the time derivative thereof; and obtaining a desired trajectory by solving the time-varying linear equation solver. According to the manipulator motion planning method based on the bias redefined neural network provided by the invention, the redundant manipulator motion planning can be carried out stablyand accurately by using the bias redefined neural network solver.

Description

technical field [0001] The invention relates to the field of redundant manipulator motion planning, in particular to a manipulator motion planning method based on a deviation redefinition neural network. Background technique [0002] A redundant manipulator refers to a manipulator with redundant joints. Compared with a non-redundant manipulator, it has more degrees of freedom. For the problem of poor practicability, it provides more choices of joint angle combinations for the motion planning of the manipulator. When the redundant manipulator completes the main task of the end effector, it can also complete additional tasks such as avoiding obstacles, shutting down the limit position, and the singular state of the manipulator. In automated industrial production, the robotic arm is usually required to perform batch production activities, and it is often necessary to plan the path of the robotic arm according to the target. If the path planning of the robotic arm can be quickl...

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