Obstacle avoidance trajectory planning method for redundant mechanical arm based on improved rapidly-exploring random tree

A technology of trajectory planning and manipulators, which is applied to manipulators, program-controlled manipulators, manufacturing tools, etc., and can solve problems such as meeting requirements, long calculation time, and difficult path generation

Active Publication Date: 2021-09-07
SHANGHAI UNIV OF ENG SCI
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Problems solved by technology

[0005] The present invention provides a redundant robotic arm obstacle-avoiding trajectory planning method based on an improved fast-expanding random tree, which solves the problem that the traditio

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  • Obstacle avoidance trajectory planning method for redundant mechanical arm based on improved rapidly-exploring random tree
  • Obstacle avoidance trajectory planning method for redundant mechanical arm based on improved rapidly-exploring random tree
  • Obstacle avoidance trajectory planning method for redundant mechanical arm based on improved rapidly-exploring random tree

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Embodiment Construction

[0046] The specific implementation manner of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0047] The present invention provides a redundant robot arm obstacle-avoiding trajectory planning method based on the improved rapid expansion random tree. First, the model of the redundant robot arm and the obstacle is simplified, and the obstacle model is mapped to the joint space of the redundant robot arm. Then improve the random sampling point selection mechanism in the standard RRT algorithm based on the characteristics of the working environment of the redundant manipulator, and optimize the random sampling point selection mechanism to avoid the disadvantage of slow convergence in the standard RRT algorithm caused by the high degree of freedom of the redundant manipulator. Random expansion tree is densely distributed; by introducing an evaluation function to screen the new nodes generated by the ex...

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Abstract

The invention belongs to the technical field of automatic control, and discloses an obstacle avoidance trajectory planning method for a redundant mechanical arm based on an improved rapidly-exploring random tree. The method comprises the following steps of firstly, establishing a D-H model of the redundant mechanical arm and a simplified envelope model of an obstacle; secondly, according to the target pose of an end effector of the redundant mechanical arm, using an inverse kinematics analytical method of the redundant mechanical arm for solving a target joint angle meeting the requirement, and setting the target joint angle to be qgoal; thirdly, mapping the simplified envelope model of the obstacle to a joint space of the redundant mechanical arm, and further obtaining a collision-free free space of the redundant mechanical arm in the joint space; and fourthly, establishing a search tree in the collision-free free space by taking a node corresponding to the target joint angle qgoal as a target node, conditionally selecting a random sampling node according to a selection rule, introducing a search tree node screening mechanism, and finally planning a collision-free path in the collision-free free space.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to an obstacle-avoiding trajectory planning method for a redundant manipulator based on an improved fast-expanded random tree. Background technique [0002] Trajectory planning is the basis of the trajectory control of the manipulator, and its performance is of great significance to the work efficiency, motion stability and energy consumption of the manipulator. With the development of the application field of the manipulator, the working environment becomes more and more complex. When the redundant manipulator moves, it may collide with obstacles in the environment, resulting in the inability to complete the work task, which greatly limits the application of the manipulator. Therefore, the redundant manipulator It is very necessary to study the obstacle avoidance trajectory planning of the robot arm. [0003] The redundant robotic arm has a large range of mot...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/16B25J9/1628
Inventor 陈丽高其远吴泽州张凯波
Owner SHANGHAI UNIV OF ENG SCI
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