Mechanical arm null-space real-time obstacle avoidance control method and system

Abstract

The invention discloses a null-space real-time obstacle avoidance control method and system for a mechanical arm, and the method consists of a sensing task, a planning task and a control task, and comprises the steps: collecting obstacle information, obtaining the three-dimensional coordinates of an obstacle, and completing the sensing task; based on an artificial potential field method, a virtual repulsive force calculation function is used for generating repulsive force between the mechanical arm and an obstacle in the working space where the mechanical arm is located, then an obstacle avoidance track for the mechanical arm to avoid the obstacle in the current working space is generated according to a virtual impedance control algorithm, and the planning task is completed; and on the basis of a preset performance function, the transient performance of the mechanical arm is restrained according to requirements, a mechanical arm trajectory tracking control program is designed, the joint torque of the mechanical arm tracking obstacle avoidance trajectory is obtained, the mechanical arm is controlled in real time to track the obstacle avoidance trajectory according to the preset performance, and the control task is completed. According to the robot system, the mechanical arms can avoid obstacles while working cooperatively, and the safety and the high efficiency of the cooperative robot system are improved.

Description

Technical field [0001] The invention involves the field of automatic control technology, which especially involves a real -time barrier -free control method and system based on the zero -spatial space -based space -based zero space of the robotic arm of virtual impedance and preset energy. Background technique [0002] In recent years, the intelligent robot industry has developed rapidly, and has been widely used in services, entertainment, medical care and other fields. More and more tasks require collaboration between people and robots, so the related issues of human -machine collaboration have been highly valued by scientific researchers. [0003] Compared with traditional robotics control, human -machine collaboration control is that it is necessary to use the functional characteristics of robots to improve the efficiency of human -machine collaboration, but also ensure the smoothness, safety and intelligence of the interaction between the human and the robot. Therefore, the ...

AI Technical Summary

Problems solved by technology

[0005] In view of the above problems, the object of the present invention is to provide a real-time obstacle avoidance control method and system based on virtual impedance and preset performance function of the manipulator in zero space, so as to solve the problem that the robot does not have the ability to actively avoid during the cooperation process of the existing human-machine cooperative handling system. The problem of obstacles and the low efficiency of robots in the process of human-machine collaboration

Images