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Collision-free motion control method of double-arm robot and computer storage medium

A technology of motion control and robotics, applied in the field of robotics, can solve the problems of not considering the physical constraints of robots, complex non-touch motion planning of dual-arm robots, and unreachable motion trajectories.

Active Publication Date: 2021-03-26
FOSHAN LONGSHEN ROBOT
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  • Abstract
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Problems solved by technology

Collision-free motion planning is an important prerequisite for the control of a dual-arm robot. However, due to the mutual coupling of the left and right manipulator workspaces, and the highly nonlinear characteristics between the space configuration and joint angle of the manipulator, the collision-free motion planning of the dual-arm robot very complicated
The current non-collision motion planning method based on the potential field method does not consider the actual physical constraints of the robot, and some of the motion trajectories obtained by the planning are unreachable.

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[0027] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with its embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, and do not limit the protection scope of the present invention.

[0028] It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for the purpose of illustration only and do not represent the only embodiment.

[0029] Unless otherwise defined, all technical and scientific terms used he...

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Abstract

The invention provides a collision-free motion control method of a double-arm robot and a computer storage medium. The method comprises the following steps that an inequality is constructed accordingto a left arm key point and a right arm key point, wherein please see the inequality in the specification; an equation is constructed according to an expected track of a left arm end effector and an expected track of a right arm end effector; the angular acceleration of a left arm joint and the angular acceleration of a right arm joint are calculated in real time according to the inequality and the equation; and the angular velocity of the left arm joint and the angular velocity of the right arm joint are updated in real time according to the angular acceleration of the left arm joint and theangular acceleration of the right arm joint respectively. According to the method, the physical limitation of the joints of the double-arm robot is fully considered while the collision-free motion planning is carried out, and the accessibility of a result of the double-arm robot in the whole collision-free motion planning can be guaranteed.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a non-collision motion control method and a computer storage medium of a dual-arm robot. Background technique [0002] Dual-arm robot is a typical robotic system designed to mimic the coordinated operation of human arms, and has shown great potential in performing complex tasks. Collision-free motion planning is an important prerequisite for the control of dual-arm robots. However, due to the mutual coupling of the left and right manipulator workspaces, and the highly nonlinear characteristics between the space configuration and joint angle of the manipulators, the collision-free motion planning of the dual-arm robot very complicated. The current collision-free motion planning method based on the potential field method does not consider the actual physical constraints of the robot, and some of the motion trajectories obtained by the planning are unreachable. Contents of the inv...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1615B25J9/1664
Inventor 陈仕晰吕晓静徐恩华徐燕
Owner FOSHAN LONGSHEN ROBOT
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