Double-mechanical-arm cooperative obstacle avoidance method based on neighborhood traversal

Abstract

By aiming at the problems that a double-arm mechanical hand working in a complex field or space environment and deep sea is difficult to manually control and is prone to colliding with obstacles, theinvention provides a double-mechanical-arm cooperative obstacle avoidance algorithm, and relates to a double-mechanical-arm cooperative obstacle avoidance method based on neighborhood traversal. Firstly, a model of mechanical arms and obstacles in working space is established by using a Lagrange extremum method and an ellipsoid bounding box method, and a mathematical expression of the model of theobstacles and the double mechanical arms is solved; then, the adjacent working space of the current poses of the mechanical arms is traversed by applying the neighborhood traversal obstacle avoidancemethod, a collision-free path with the shortest movement distance towards a target point is screened out through a collision detection algorithm, and a virtual target point is introduced to avoid theproblem of oscillating motion generated when the mechanical arms fall into a local minimum value; and finally, a mechanical arm end effector moves to the target point along the relatively-optimal path in a collision-free manner. Meanwhile, when the double mechanical arms move, the double mechanical arms are regarded as mutual obstacle models under the ellipsoid bounding box method, and the collision avoidance problem between the double mechanical arms during cooperative work can be solved.

Description

technical field [0001] The invention belongs to the field of mechanical arm motion planning, and more specifically relates to a method for cooperative obstacle avoidance of dual mechanical arms based on neighborhood traversal. Background technique [0002] With the development of science and technology and the continuous improvement of human production and living needs, the application of autonomous robots in various fields is becoming more and more important. In some complex field or space environments and deep sea environments, human beings need to carry out dangerous tasks such as exploration, pipeline inspection, and equipment maintenance, and it is difficult to guarantee the safety of employees. Robots can largely replace humans to perform the above tasks, but due to the complex and dangerous working environment, only relying on operators for remote control can easily cause damage to equipment, and the training of professional operators is also very difficult. Therefor...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method for cooperative obstacle avoidance of dual mechanical arms, to solve the technical problems of the mechanical arm motion control of the robot that is equipped in some complex field or space environment and deep sea environment

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