Redundant-degree-of-freedom mechanical arm path planning method and device and engineering machinery

Abstract

The invention provides a redundant-degree-of-freedom mechanical arm path planning method and device and engineering machinery, and relates to the technical field of mechanical arm path planning. The redundant-degree-of-freedom mechanical arm path planning method comprises the steps of determining a target pose to be reached by an execution tail end of a mechanical arm; determining joints which can keep the initial angles when the execution tail end of the mechanical arm is located at the target pose in all joints of the mechanical arm; determining path data of the execution tail end of the mechanical arm reaching the target pose based on the determined joints, specifically, the path data comprise the target angles of all the joints of the mechanical arm, and the target angle of at least one joint is equal to the initial angle of the joint; and determining the motion paths of the mechanical arm according to the path data, and making the motion path meeting the preset rule in the motion paths as the final motion path of the mechanical arm. According to the redundant-degree-of-freedom mechanical arm path planning method, the motion path of the mechanical arm is planned based on the locked joints, and thus the shaking of the execution tail end of the mechanical arm in the motion process can be effectively reduced.

Description

technical field [0001] The invention relates to the technical field of path planning of a mechanical arm, in particular to a path planning method for a redundant degree of freedom mechanical arm, a path planning device for a redundant degree of freedom mechanical arm, and an engineering machine. Background technique [0002] Existing construction machinery jibs usually have a relatively large size, and often have a large inertia when the mechanical arm performs an action, and because the driving device of the existing construction machinery jib is often hydraulically driven, and the output power of the hydraulic pump Limited, so the linkage of multiple joints of the mechanical arm frame causes greater vibration at the execution end of the mechanical arm. During the movement of the mechanical arm, the more moving joints, the greater the vibration at the execution end of the mechanical arm, especially the closer to the mechanical arm. The movement of the joints of the boom bas...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the embodiment of the present invention is to provide a path planning method, device and construction machinery for a redundant degree of freedom mechanical arm to solve the problem that the prior art cannot reduce the vibration at the end of the mechanical arm execution

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