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Cyclic motion control method and device for double-arm robot

A technology of cyclic motion and control method, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., and can solve problems such as joint deviation, high risk of experiment, and high cost of experiment

Inactive Publication Date: 2021-04-06
SUN YAT SEN UNIV
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  • Application Information

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Problems solved by technology

[0005] The present invention proposes a cyclic motion control method and device for a dual-arm robot to solve the technical problems of high experimental costs and high experimental risks caused by the inability of the robot to complete the cyclic motion of a closed curve or the phenomenon of joint offset

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  • Cyclic motion control method and device for double-arm robot
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  • Cyclic motion control method and device for double-arm robot

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Embodiment Construction

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0055] When the joint variables of the robot cannot meet the given physical limit, the robot will not be able to achieve a closed curve cyclic motion or joint deviation will occur during the movement process. Circumstances, such as uncontrollable machines or damaged parts, not only increase the risk of experiments for experimenters, but also increase the cost of experiments.

[0056] In order to solve the above-mentioned problems, a method for controlling the cycli...

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Abstract

The invention discloses a cyclic motion control method and device for a double-arm robot. The method and the device are suitable for a robot with a left mechanical arm and a right mechanical arm. The method comprises the steps: setting a performance index of a left-arm robot and a performance index of a right-arm robot, and minimizing the two performance indexes at the same time to obtain a motion performance index, generating a control scheme of cyclic motion of a protrusion level layer based on the motion performance index; generating a left constraint inequality of the left-arm robot and a right constraint inequality of the right-arm robot; based on the left constraint inequality and the right constraint inequality, converting the control scheme of the cyclic motion of the protrusion level layer into a standard quadratic programming problem, and calling a preset quadratic programming solver to solve the problem; and obtaining a solving result generated by the preset quadratic programming solver, and driving the left mechanical arm and the right mechanical arm of the robot to circularly move according to the solving result. Circulating motion control of the double-arm robot can be achieved.

Description

technical field [0001] The invention relates to the technical field of robot motion planning and control, in particular to a method and device for controlling the cycle motion of a dual-arm robot. Background technique [0002] Dual-arm robots have two arms like humans, and the arms can coordinate within a certain range. Compared with the single-arm robot, it can greatly enhance the adaptability of the robot to complex assembly tasks, and at the same time improve the utilization efficiency of the working space. [0003] When the end task of the robot is a closed curve, each joint may not return to the initial position. This phenomenon is called joint drift or acyclic motion problem. [0004] If the joint variables of the robot cannot meet the given physical limit, the robot will not be able to achieve a closed-curve circular movement or joint deviation will occur during the movement process. Circumstances, such as uncontrollable machines or damaged parts, not only increase ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664B25J9/1682
Inventor 张雨浓郭津津李振宇邱斌斌明良杰
Owner SUN YAT SEN UNIV
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