Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Trajectory Tracking Algorithm for End of Manipulator Based on Zero Space Obstacle Avoidance

A trajectory tracking and manipulator technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of large end trajectory tracking errors, achieve good results, simple numerical calculations, and improve trajectory tracking accuracy.

Active Publication Date: 2022-04-19
ANHUI UNIVERSITY OF TECHNOLOGY
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem of the present invention is: to overcome the deficiencies of the prior art, to provide a trajectory tracking algorithm for the end of the robot arm based on zero-space obstacle avoidance, which solves the problem of large error in the trajectory tracking of the end, and at the same time completes the zero Spatial obstacle avoidance tasks, and each joint angle runs smoothly without sudden changes

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Trajectory Tracking Algorithm for End of Manipulator Based on Zero Space Obstacle Avoidance
  • Trajectory Tracking Algorithm for End of Manipulator Based on Zero Space Obstacle Avoidance
  • Trajectory Tracking Algorithm for End of Manipulator Based on Zero Space Obstacle Avoidance

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] The implementation process of the whole invention is shown in figure 1 , the specific implementation details are as follows:

[0038] (1) Establish the positive kinematics equation of the redundant manipulator

[0039] The homogeneous transformation matrix of each link

[0040]

[0041] Among them, q i is the joint angle, ai-1 is the connecting rod length, α i-1 is the torsion angle, d i Offset for the connecting rod. figure 2 It is a 7-DOF manipulator kinematics model diagram.

[0042] The positive kinematic equation of the tool coordinate system at the end of the manipulator relative to the base coordinate system is described as

[0043]

[0044] Among them, q=[q 1 ,q 2 ,q 3 ,q 4 ,q 5 ,q 6 ,q 7 ] T is the joint angle vector, R Tool is the end pose matrix, p Tool is the end position vector. The homogeneous transformation matrix T(q 1 )T(q 2 ),…,T(q 7 ), so that the positive kinematics equation T(q) of the redundant manipulator can be obtained...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a trajectory tracking algorithm for the end of a manipulator based on zero-space obstacle avoidance. The minimum pseudo-range with an analytic form is used instead of the traditional Euclidean distance as the proximity index for obstacle avoidance, and the zero-space obstacle avoidance task of the manipulator is completed in combination with the gradient projection method. An adaptive positive definite coefficient matrix K and velocity error saturation function are designed to feed back the real-time terminal trajectory operation results to the redundant manipulator kinematics inverse solution, and adaptively adjust the joint angular velocity according to the feedback results to reduce the terminal trajectory tracking error. The invention not only solves the problem of track tracking at the end of the redundant mechanical arm, but also completes the zero-space obstacle avoidance task. The use of pseudo distance can take obstacle avoidance actions in advance to ensure the smooth operation of the joint space of the manipulator. The terminal trajectory tracking algorithm can significantly improve the trajectory tracking accuracy and complete the main task of the terminal to the maximum extent. The simulation experiment results of redundant manipulators verify the effectiveness and superiority of the algorithm.

Description

technical field [0001] The invention belongs to the field of motion planning algorithms of manipulators, and in particular relates to a trajectory tracking algorithm at the end of a manipulator based on zero-space obstacle avoidance. Background technique [0002] Redundant manipulators have better flexibility and operability due to the redundancy, and at the same time have great advantages in motion obstacle avoidance, singularity avoidance, joint torque optimization, etc., and have become a research hotspot in the field of robotic frontier technology. one. However, if the robot collides with obstacles during its movement, the robot arm will not be able to complete a given task, or even cause irreversible damage to its own robot arm. Collision-free motion planning has become an important prerequisite for its application in the industrial field. Robotic obstacle avoidance can be divided into zero-space obstacle avoidance and obstacle avoidance where obstacles appear at the e...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1605
Inventor 徐向荣刘雪飞朱佐君江杨林周攀朱永飞
Owner ANHUI UNIVERSITY OF TECHNOLOGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com