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A non-collision motion control method and computer storage medium for a dual-arm robot

A motion control and robotics technology, applied in the field of robotics, can solve problems such as unreachable motion trajectories, no consideration of the physical constraints of the robot, and complex non-collision motion planning for dual-arm robots.

Active Publication Date: 2021-06-01
FOSHAN LONGSHEN ROBOT
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AI Technical Summary

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.

Method used

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  • A non-collision motion control method and computer storage medium for a dual-arm robot

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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 present invention provides a non-collision motion control method of a dual-arm robot and a computer storage medium. The method includes the following steps: constructing an inequality according to the key points of the left arm and the key points of the right arm:; according to the expected trajectory of the end effector of the left arm and the expected trajectory construction equation of the right arm end effector; according to the above inequality and equation real-time calculation of the left arm joint angular acceleration and the right arm joint angular acceleration; respectively according to the left arm joint angular acceleration and the right arm joint angular acceleration The joint angular velocity of the left arm and the joint angular velocity of the right arm are updated in real time; the present invention fully considers the physical limitations of the joints of the dual-arm robot while performing collision-free motion planning, and can ensure that the dual-arm robot achieves results in the entire collision-free motion planning. accessibility.

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 Patents(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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