A method and device for obstacle avoidance of a manipulator based on three-dimensional task space constraints
A technology of task space and manipulators, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as non-optimal paths and strange Cartesian configurations of manipulators
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Embodiment 1
[0070] like figure 1 As shown, a mechanical arm avoidance method based on a three-dimensional task space constraint, the method comprising:
[0071] Step S1: Get the starting point QS and target point QD of the mechanical arm moving path in the joint space; the specific process is:
[0072] Gets the starting point QS and target point QD of the mechanical arm moving path in the joint space belong to the prior art process, such as figure 2 As shown, the main principle is to model the six-degree-of-freedom robot arm with the end grab tool, and the obstacle is used to establish a model with an OBB enveloping box technology on the basis of obtaining an obstacle environment. The grabbing of space and the end position, image 3 As shown, the hexafa robot arm is modeled, and Table 1 is the D-H parameter table of the robot arm.
[0073] Table 1 D-H parameter table
[0074] i α i-1
α i-1
d i
θ i
1 0 0 d 1
θ 1 (0)
2 -pi / 2 0 d 2
θ 2 (-pt / 2) ...
Embodiment 2
[0117] In accordance with Embodiment 1 of the present invention, Embodiment 2 of the present invention further provides a robotic arm avoidance device based on three-dimensional task space constraint, the device comprising:
[0118] The starting point and target point acquisition module is used to obtain the starting point QS and target point QD of the mechanical arm motion path in the joint space;
[0119] Initialization module, used for bidirectional RRT search tree includes search tree rrtree1 and search tree rrtree2, initializing the tree root node of the search tree rrtree1 is the starting point QS, the tree root node of the search tree RRTREE2 is the target point QD, and the search tree RRTREE1 is expanded. Current expansion joint point;
[0120] Update the module, confine the update to the current extension joint node point for the current extension joint new_point_temp based on the set 3D task spatial constraint;
[0121] The original path acquisition module is used to obt...
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