Inverse multi-solution selection and time optimal trajectory planning algorithm of mechanical arm

Abstract

The invention relates to the field of mechanical arms of foot type robots, in particular to an inverse multi-solution selection and time optimal trajectory planning algorithm of a mechanical arm. According to the algorithm, the most appropriate group of solutions can be rapidly selected from multiple inverse solutions according to the current pose of the mechanical arm, so that singular patterns are effectively avoided, smooth switching between different inverse solutions is achieved, and continuity and non-oscillation of control and action of the mechanical arm are guaranteed; and a trajectory with optimal time is planned by using a trajectory planning method combining a heptatic polynomial and conditional proportional control, so that smooth, continuous and derivable joint angles, angular velocities, angular accelerations and angular jerk are ensured; and meanwhile, multi-target and multi-constraint conditions are met, and the specification of an actuator is met; and the constraint condition comprise joint angular velocity maximum value constraint or joint angular acceleration maximum value constraint, and the like. According to the algorithm, the calculation amount of multi-solution selection and trajectory planning is greatly reduced, real-time and efficient time optimal trajectory planning can be realized, and the algorithm can be popularized and applied to a low-calculation-power controller.

Description

Technical field[0001]The present invention relates to the field of a foot-style robotic arm, and in particular, to a mechanical arm reverse decentral solution and time optimal trajectory planning algorithm.Background technique[0002]The robot arm is a high precision, multi-input multi-output, highly nonlinear, strongly coupled complex system. Because of its unique operational flexibility, it has been widely used in industrial assembly, safe explosion-proof. The mechanical arm is a complex system, there is an uncertainty such as parameter takeback, external interference and unshort-opening dynamic, so the modeling model of the mechanical arm also has uncertainty. Mathematical models of machine arm include kinematics and kinetics, kinematics, and kinetics contain positive solutions and reverse. Typically, there is a presence of multi-freedom robotic arm motion reversible, for different tasks, it is necessary to plan a trajectory of mechanical armcinol space or joint space as a robotic ...

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Problems solved by technology

The manipulator is a complex system with uncertainties such as parameter perturbation, external in

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