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Mechanical arm obstacle avoidance method based on proximity perception

A robotic arm and proximity sensor technology, applied in the field of robotic arm obstacle avoidance path planning, can solve the problems of easy occlusion, high price of visual sensors, and large amount of visual information data, so as to avoid easy occlusion, low cost, and meet real-time requirements. sexual effect

Active Publication Date: 2021-08-10
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main problems are: 1) The price of the visual sensor is relatively high; 2) It needs to be arranged in a suitable position, which is prone to occlusion; 3) The amount of visual information data is large, and a reasonable visual processing algorithm is required to ensure real-time control

Method used

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  • Mechanical arm obstacle avoidance method based on proximity perception
  • Mechanical arm obstacle avoidance method based on proximity perception
  • Mechanical arm obstacle avoidance method based on proximity perception

Examples

Experimental program
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Effect test

Embodiment 1

[0035] A method for avoiding obstacles of a mechanical arm based on proximity perception, the specific steps are as follows:

[0036] Step 1, lay out the proximity sensor array:

[0037] Such as figure 2 As shown, the proximity sensor array is arranged on the obstacle-avoiding link, and 8 (or 4, 6, etc.) are arranged equally on a circle, and each different circle is equally spaced from each other.

[0038] Step 2, determine the direction of movement of the connecting rod:

[0039] Calculate the expected pose of the connecting rod in the next control cycle through robot kinematics, combined with the current pose of the connecting rod, you can find the expected pose of the cycle under the center line of the connecting rod and determine its motion direction;

[0040] Step 3, collect sensor distance information:

[0041] Such as image 3 As shown in the figure, the proximity sensor on a circle of the obstacle avoidance link is shown, O' is the desired spatial position of the ...

Embodiment 2

[0050] This embodiment is basically the same as Embodiment 1, and the special feature is that in step 6, the artificial potential field method often falls into the local optimal trap, but the proposed algorithm can only perceive the safe plane, and the usual artificial potential field improvement method It is difficult to apply at this time, so an improved strategy based on detour is proposed, such as Figure 7 As shown, the obstacle avoidance link escapes from the local optimal trap after using the detour strategy. In this method, when the obstacle avoidance link falls into the local optimal trap, the potential function of the gravitational field changes, making the The connected previous joint rotates in one direction, and the gravitational potential field of the other joints is still determined according to the target pose, resulting in circumvention behavior until the safe plane changes, the algorithm escapes from the local optimal trap, and finally the robot reaches the ta...

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Abstract

The invention discloses a mechanical arm obstacle avoidance method based on proximity perception. The mechanical arm obstacle avoidance method comprises the following steps: obstacle space information is sensed by adopting a proximity sensor array, and it is assumed that the surface of an obstacle is smooth, continuous and closed; and an obstacle avoidance connecting rod is simplified by using a cylindrical bounding box, the movement "direction" of the obstacle avoidance connecting rod in the space is defined, and only sensor data in the "direction" is read in one control period to ensure real-time performance. Through data of adjacent sensors, a cone with a certain apex angle is established on the surface of the nearest obstacle, and a safe plane is proposed according to the point to replace the obstacle. A mechanical arm obstacle avoidance path is planned by adopting an artificial potential field method, and a bypassing strategy is proposed to enable a mechanical arm to escape from a local optimal trap of the artificial potential field method.

Description

technical field [0001] The invention belongs to the field of obstacle avoidance path planning of a manipulator, more specifically, an obstacle avoidance method of a manipulator based on proximity perception. Background technique [0002] With the development of science and technology, robot technology is becoming more and more mature, and more and more people are involved in automated production, assembly and other work, liberating workers from repetitive and boring simple labor. On the automobile assembly line, the mechanical arm can complete welding, spraying, assembly and other work; in the logistics industry, high-speed parallel robots can accurately and efficiently complete the sorting of products; in daily households, various mobile robots can automatically clean the room , and even charge itself. In addition to the above, robot technology is also widely used in medical, military and other fields, which greatly improves the efficiency of the application field. Howeve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666
Inventor 李龙陈禾炜张泉田应仲
Owner SHANGHAI UNIV
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