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An Algorithm for Inverse Solution Multiple Solution Selection and Time Optimal Trajectory Planning of Manipulator

A trajectory planning, time-optimized technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as uncertainty of manipulator modeling model, unmodeled dynamics, parameter perturbation, etc., and achieve real-time high-efficiency time Optimal trajectory planning, reducing the amount of calculation, ensuring the effect of non-oscillation

Active Publication Date: 2022-03-01
BEIJING JIAOTONG UNIV
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Problems solved by technology

The manipulator is a complex system with uncertainties such as parameter perturbation, external interference and unmodeled dynamics, so the modeling model of the manipulator also has uncertainties

Method used

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  • An Algorithm for Inverse Solution Multiple Solution Selection and Time Optimal Trajectory Planning of Manipulator
  • An Algorithm for Inverse Solution Multiple Solution Selection and Time Optimal Trajectory Planning of Manipulator
  • An Algorithm for Inverse Solution Multiple Solution Selection and Time Optimal Trajectory Planning of Manipulator

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Embodiment Construction

[0055] The invention will be further described with reference to the drawings.

[0056] The problem to be solved by the present invention is to propose a mechanical arm reverse understanding selection and time optimal trajectory planning algorithm. The algorithm architecture is simple and efficient, with rapid from the reverse solution multi-solution to choose the most suitable set of solutions and planned time Excellent track ability.

[0057] The technical solution to solve its technical problem is:

[0058] A mechanical arm reversal multicolor selection and time optimal trajectory planning algorithm, characterized in that the overall algorithm architecture is made by: retrieving multi-decision algorithm and time optimal trajectory Planning algorithms, two major components. Among them, the overall idea of ​​solving the multi-decision algorithm is: according to the current mechanical arm position posture, positive-reversible or reverse-positive solution conversion, and the minimu...

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Abstract

The invention relates to the field of legged robot manipulators, in particular to a manipulator inverse solution multi-solution selection and time optimal trajectory planning algorithm. This algorithm can quickly select the most suitable set of inverse solutions from multiple inverse solutions according to the current pose of the manipulator, effectively avoiding singular positions, realizing smooth switching between different inverse solutions, and ensuring the continuity of manipulator control and motion and does not oscillate; and use the trajectory planning method combined with the seventh-order polynomial and conditional proportional control to plan the time-optimal trajectory to ensure the smooth continuous derivation of joint angles, angular velocities, angular accelerations, and angular jerks. Constraint conditions, satisfying the actuator specification, including the maximum joint angular velocity constraint or the maximum joint angular acceleration constraint, etc. The algorithm greatly reduces the calculation amount of multi-solution selection and trajectory planning, can realize real-time and efficient time-optimal trajectory planning, and can be extended to low computing power controllers.

Description

Technical field [0001] The present invention relates to the field of a pedestrian robot, and Background technique [0002] The robot arm is a high precision, multi-input multi-output, highly nonlinear, strong coupling complex system. Because of its unique operational flexibility, it has been widely used in industrial assembly, safe explosion-proof and other fields. The mechanical arm is a complex system, there is an uncertainty such as parameter takeback, external interference and unshort-opening dynamics, so the modeling model of the robot arm also has uncertainty. Mathematical models of machine arm include kinematics and kinetics, kinematics and kinetics comprise positive solutions and reverse. Typically, the case where the multi-freedom robotic arm movement is more solved, for different tasks, it is necessary to plan a trajectory of the mechanical armcushol space or the joint space as a robotic arm target. How to simply and efficiently select the most suitable set of solutions...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1612
Inventor 陈光荣郭盛曲海波陈亚琼
Owner BEIJING JIAOTONG UNIV
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