Coordination graph double-arm cooperative control method based on fusion of human body kinematics constraints

A collaborative control and kinematics technology, applied in the field of intelligent robots, can solve the problems of large amount of calculation, non-human-like operation, and low operation efficiency.

Active Publication Date: 2021-03-26
BEIJING UNIV OF TECH
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However, both of these two collaboration methods have disadvantages such as low operatin

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  • Coordination graph double-arm cooperative control method based on fusion of human body kinematics constraints
  • Coordination graph double-arm cooperative control method based on fusion of human body kinematics constraints
  • Coordination graph double-arm cooperative control method based on fusion of human body kinematics constraints

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[0024] Below in conjunction with accompanying drawing, the inventive method will be further described, as figure 1 Shown is a schematic diagram of the method of the present invention, which adopts the idea of ​​teleoperation teaching and integrates human kinematics constraints into the coordination diagram to carry out the dual-arm cooperative control of the humanoid robot. Method Workflow: Refer to figure 2 , the present invention is a coordination graph dual-arm cooperative control method based on fusion of human kinematic constraints, so that a humanoid dual-arm robot can complete dual-arm cooperative tasks efficiently without collision. The overall process of the method mainly includes: obtaining the teaching action part, the operator wears the human body posture acquisition suit to perform teleoperation action teaching, processes the trajectory of the teaching action, filters out repetitive and jittery data, and uses the grasping position Equal sampling is carried out f...

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Abstract

The invention discloses a coordination graph double-arm cooperative control method based on fusion of human body kinematics constraints. Double-arm cooperative control is carried out from an action level and an operation task level at the same time; in the action cooperation level, a robot cooperation track is obtained through a teleoperation teaching technology, and human actions are mapped to arobot end through a quaternion attitude trajectory mapping method and are optimally stored; a coordination graph is generated according to the trajectory collision situation, the coordination graph takes the operation time of the left arm and the right arm as the horizontal and vertical coordinates, the robots colliding with each other in the graph are set to be black, the robots without collisionare set to be white, and a complete coordination graph is formed; trajectory planning in the coordination graph is carried out by adopting a mode of combining an RRT-Connect algorithm with a trajectory optimization algorithm in an open source action planning library to complete double-arm cooperation of the action level; and after the collision-free cooperation pair operation is completed, the collision cooperation pair cooperates according to the previous cooperation law calculation result to complete the cooperation operation, so that the operation time is shortest, and the operation efficiency is maximized.

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Application Information

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Owner BEIJING UNIV OF TECH
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