Eureka AIR delivers breakthrough ideas for toughest innovation challenges, trusted by R&D personnel around the world.

Method for optimizing motion trail of redundant mechanical arm

A technology of manipulator and algorithm, which is applied in the field of redundant manipulator trajectory optimization, can solve the problem that the manipulator trajectory optimization cannot meet the actual needs, etc.

Active Publication Date: 2021-09-21
中国人民解放军63920部队
View PDF3 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by this application is: the trajectory optimization for the prior art mechanical arm cannot meet the actual needs

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
  • Method for optimizing motion trail of redundant mechanical arm
  • Method for optimizing motion trail of redundant mechanical arm
  • Method for optimizing motion trail of redundant mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0045] In the solutions provided by the embodiments of the present application, the described embodiments are only some of the embodiments of the present application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0046] In order to better understand the above technical solutions, the technical solutions of the present application will be described in detail below through the accompanying drawings and specific examples. It should be understood that the embodiments of the present application and the specific features in the examples are detailed descriptions of the technical solutions of the present application, and It is not a limitation to the technical solutions of the present application, and the embodiments of the present application and the technical features in the embodiments can be comb...

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 discloses a method for optimizing the motion trail of a redundant mechanical arm. The method comprises the steps of building a space obstacle environment model and a mechanical arm model, according to the space obstacle environment model, the mechanical arm model and a preset A * algorithm, determining an initial obstacle avoidance path of the mechanical arm moving from a preset starting point to a preset target point in the obstacle environment; establishing a mechanical arm motion optimization mathematical model on the basis of a preset gradient projection algorithm, determining track optimization vectors according to preset task requirements, and using the mathematical model to optimizing the motion speed of the mechanical arm; and according to the mathematical model, determining a mechanical arm joint motion law between any two adjacent nodes in the initial obstacle avoidance path, and according to the motion law and the trajectory optimization vector, optimizing the initial obstacle avoidance path to obtain an optimized path. According to the method for optimizing the motion trail of the redundant mechanical arm, the technical problem that in the prior art, track optimization of a mechanical arm cannot meet actual requirements is solved.

Description

technical field [0001] The present application relates to the technical field of motion trajectory optimization of a mechanical arm, and in particular to a method for optimizing a motion trajectory of a redundant robotic arm. Background technique [0002] With the development of spacecraft technology, spacecraft is widely used in many fields, and the robotic arm is an important part of the spacecraft. During the process of performing on-orbit operation tasks, the space manipulator may collide with environmental objects or itself due to the constraints of the external environment and its own structure, which seriously affects the safe operation of the manipulator. In particular, when the base is in a free-floating state, the space manipulator collides with obstacles during the mission, resulting in serious consequences such as the deviation of the manipulator and the instability of the base. Therefore, the obstacle avoidance trajectory planning of the space manipulator is ve...

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 Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 刘传凯孙军刘茜陈钢崔金袁春强王晓雪张济韬
Owner 中国人民解放军63920部队
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Eureka Blog
Learn More
PatSnap group products