A Real-time Obstacle Avoidance Method for Manipulator Arms Integrating Dynamic System and Model Predictive Control
A model predictive control and dynamic system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as high-dimensional obstacle avoidance, and achieve the effect of improving ability and accuracy
Active Publication Date: 2022-08-05
ZHEJIANG UNIV OF TECH
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[0004] In the real-time obstacle avoidance of the robot based on the dynamic system, in order to solve the high-dimensional obstacle avoidance problem caused by the multi-degree-of-freedom of the manipulator, the present invention provides a real-time obstacle avoidance method of the manipulator that integrates the dynamic system and model predictive control. The system method is used to plan real-time obstacle avoidance trajectories, and the dynamic distance between each link of the manipulator and the obstacle is used as the constraint condition of the control, and the dynamic distance constraint is maintained while the end of the manipulator tracks the planned trajectory, which effectively improves the mechanical performance. Effectiveness of Arm Real-time Obstacle Avoidance
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[0025] The following combined instructions are further described to the present invention.
[0026] Reference figure 1 , A real -time obstacle avoidance method of a robotic arm that integrates dynamic systems and model prediction control, which includes the following steps:
[0027] Step 1) Create an original DS model As a motor trajectory equation expected in the environment of a robotic arm at the barrier -free environment, and gives the corresponding end position sequence;
[0028] Step 2) Test the recently spherical obstacles in the operating space of the robotic arm in the komicular arm (recently the meaning of the spherical obstacle is the nearest obstacle in the mechanical arm distance in the robotic arm work space. It is regarded as a spherical shape, determining the closest distance of the obstacles and the closest to the robotic arm through the quality and size of the obstacles and the distance between the connecting rods of the robotic arm. o Harmonious position And c...
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The present invention discloses a real -time obstacle avoidance method of a robotic arm that integrates dynamic systems and model prediction control. This method combines dynamic systems and model prediction control to deal with real -time obstacles in dynamic environment.This method can be planned in real time according to the location information of the mobile barrier, and the robotic arm control is performed by using a model prediction control method to consider multiple linear or non -linear constraints.The present invention provides a real -time obstacle avoidance method for the fusion dynamic system and model prediction control, which improves the accuracy of the terminal tracking of the robotic arm, and effectively improves the real -time obstacle avoidance of the robotic arm.
Description
Technical field [0001] The present invention is a real -time obstacle -free technology field of robotic arm, especially a mechanical arm -real -time obstacle avoidance method that integrates dynamic systems and model prediction control. Background technique [0002] In recent years, due to the growing growth of labor costs, the robot industry has developed rapidly, and the overall scale has continued to grow. Robots replaced workers to engage in heavy and boring work, improve production efficiency, and improve production environment. With the widespread application of human -machine collaboration scenes and the complexity of production needs, the ability of robots to adapt to the dynamic environment has become more important. As a research focus of robotics based on dynamic systems, it has played an important role in the fields of human -computer collaboration, industrial production, and medical rehabilitation. [0003] However, ordinary robotic obstacle avoidance methods based o...
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IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/16
Inventor 张文安赵英豪梁昕宇刘安东付明磊徐建明高伟展
Owner ZHEJIANG UNIV OF TECH