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

A technology of path planning and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the inability to reduce the vibration at the end of the manipulator arm execution, and achieve the effect of reducing jitter and reducing the number of joints

CN113799120AActive Publication Date: 2021-12-17ZOOMLION HEAVY IND CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2021-12-17

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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.
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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...

Examples

Embodiment Construction

[0048] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0049] Such as figure 1 As shown, in the first aspect of this embodiment, a path planning method for a redundant degree of freedom robotic arm is provided, including:

[0050]Determine the target pose to be achieved by the execution end of the manipulator; determine the joints that can maintain the initial angle when the execution end of the manipulator is at the target pose among all the joints of the manipulator; determine the execution end of the manipulator based on the determined joints To achieve the path data of the target pose, the path data includes the target angles of all joints of the manipulator, and the target angle of at least one joint is equal ...