Arm type collaborative planning method for continuous super-redundant mechanical arm, terminal equipment and storage medium

Abstract

The invention provides an arm type collaborative planning method for a continuous type super-redundant mechanical arm, terminal equipment and a storage medium. The method comprises the steps: establishing a continuous type super-redundant mechanical arm kinematics model; constructing a virtual guide pipeline; solving an initial arm type of the virtual guide pipeline through a robot inverse kinematics equation; constructing artificial potential fields, wherein the artificial potential fields comprise guiding force potential fields generated by the virtual guiding pipeline; calculating the forceborne by the key points of the continuous type super-redundant mechanical arm in the guiding force potential fields, and planning the motion of the continuous type super-redundant mechanical arm according to the stress condition of the key points and the strategy that the sum of work done by the key points on the arm within the unit planning period is maximum till the continuous type super-redundant mechanical arm reaches the target arm type. The planning algorithm does not need to depend on inverse kinematics of the mechanical arm, so that the complexity of the planning algorithm cannot be remarkably increased along with increase of the degree of freedom of the mechanical arm.

Description

technical field [0001] The present invention relates to the technical field of the arm type of a continuous super-redundant manipulator, and in particular to an arm-type cooperative planning method of a continuous super-redundant manipulator, a terminal device and a storage medium. Background technique [0002] With the rapid development of science and technology, regular monitoring and maintenance is an important way to ensure the safe operation of equipment such as spacecraft, large aircraft, and nuclear facilities. However, due to the complex structure of such equipment, the space available for monitoring and maintenance operations Very cramped. Therefore, it is very important to explore related technologies for robots to implement equipment monitoring and maintenance in small spaces. In order to successfully complete the monitoring and maintenance in a narrow space, the robot needs to have the ability to traverse a narrow environment, avoid obstacles, joint singularity ...

AI Technical Summary

Problems solved by technology

The A* algorithm is good for planning with global information, and can obtain the global optimal solution. However, as the number of planned variables increases, the calculation amount will increase exponentially, and it is not suitable for the arm type of the super-redundant manipulator. planning

The artificial potential field method has high efficiency and versatility, but it only considers local environmental information, so it is easy to fall into the local minimum point and fail to reach the target position

Moreover, the traditional artificial potential field method is often only used to plan the trajectory of a single particle in two-dimensional space.

There has never been a research algorithm for multi-degree-of-freedom simultaneous obstacle avoidance planning that uses the artificial potential field method in three-dimensional space before.

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