A zero-space real-time obstacle avoidance control method and system for a robotic arm

Abstract

The invention discloses a zero-space real-time obstacle avoidance control method and system for a robotic arm. The method consists of a perception task, a planning task and a control task, including: collecting obstacle information, obtaining three-dimensional coordinates of the obstacle, and completing the perception Task: Based on the artificial potential field method, use the virtual repulsive force calculation function to generate the repulsive force between the robot arm and the obstacles in the workspace, and then generate the robot arm to avoid obstacles in the current workspace according to the virtual impedance control algorithm. Obstacle avoidance trajectory to complete the planning task; based on the preset performance function, the transient performance of the manipulator is constrained according to the requirements, the trajectory tracking control program of the manipulator is designed, the joint torque of the manipulator tracking the obstacle avoidance trajectory is obtained, and the mechanical arm is controlled in real time. The arm tracks the obstacle avoidance trajectory according to the preset performance, and completes the control task. The invention can realize the cooperative work of the robotic arm while avoiding obstacles, and improve the safety and efficiency of the collaborative robot system.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a zero-space real-time obstacle avoidance control method and system for a robotic arm based on a virtual impedance and a preset performance function. Background technique [0002] In recent years, the intelligent robot industry has developed rapidly and has begun to be widely used in service, entertainment, medical and other fields. More and more tasks need to be completed by humans and robots, so the related issues of human-robot collaboration have been highly valued by researchers. [0003] Compared with traditional robot control, a major difficulty of human-robot collaborative control is that it not only improves the work efficiency of human-robot cooperation by means of the functional characteristics of robots, but also ensures the flexibility, safety and intelligence of the interaction process between humans and robots. Therefore, the research on intelligent contr...

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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

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