Robotic Arm Position Adjustment Using Artificial Gravity Null-Space Torque
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Solution Overview
Problem
The damping least squares method used for controlling redundant degrees of freedom in robotic arms results in an optimal solution that is difficult to adjust arbitrarily to meet specific task requirements, limiting the flexibility in motion planning and collision avoidance.
Innovation Solution
A robotic arm space position adjustment method that calculates a potential energy function and null space virtual moment based on an artificial gravitational field and reference vectors to adjust each joint, allowing for arbitrary adjustment of redundant joints to avoid obstacles and meet task requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the damping least squares method is used to control redundant degrees of freedom, then an optimal solution with least squares norm is obtained, but the motion of redundant joints cannot be arbitrarily adjusted to meet specific task requirements
Solution Approach 1:
The patent introduces a potential energy function with adjustable parameters (gravitational field strength, reference point position) to transform the control problem. By changing these parameters, the system can achieve different motion configurations for redundant joints while maintaining task execution, thus resolving the contradiction between optimal solution accuracy and adjustability
Solution Approach 2:
The patent uses an artificial gravitational field as an intermediary concept to bridge the gap between the damping least squares method and arbitrary motion adjustment. The gravitational field serves as a mediator that allows flexible control of redundant joints through potential energy minimization, enabling both optimal solutions and arbitrary adjustments
Data Source
AI summary
The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.