Redundant manipulator motion planning method

Abstract

The invention provides a redundant manipulator motion planning method which comprises the following steps that: (1) an upper computer analyzes the inverse kinematics of a manipulator on a velocity layer through quadratic optimization, the designed minimum performance index can be velocity norm, repetitive motion or kinetic energy and is bound by a velocity jacobian equation, an inequation and a joint angular velocity limit, and the angular velocity limit changes with a joint angle; (2) the quadratic optimization of step (1) is optimized into a quadratic programming problem; (3) the quadratic programming problem in step (2) is calculated by a linear variational inequation primal-dual neural network solver or a numerical method; and (4) the calculation result in step (3) is transmitted to a lower computer controller to drive the manipulator to move. The redundant manipulator motion planning method is based on the primal-dual neural network of the linear variational inequation, has global exponential convergence, does not involve matrix inversion and other complicated operations, greatly improves the calculation efficiency, and simultaneously has strong real-time performance, and can adapt to the changes to the joint angular velocity limit.

Description

technical field [0001] The invention belongs to a motion planning method of a redundant manipulator, in particular to a motion planning method of a redundant manipulator in which joint angular velocity changes to a limit. Background technique [0002] The redundant manipulator is a terminal active mechanical device with a degree of freedom greater than the minimum degree of freedom required by the task space. Its motion tasks include welding, painting, assembly, excavation, and drawing, etc. It is widely used in equipment manufacturing, product processing, and machine operations. and other national economic production activities. The inverse kinematics problem of the redundant manipulator refers to the problem of determining the joint angle of the manipulator given the end pose of the manipulator. Traditional redundancy analysis methods and industrial manipulator control methods are mainly based on the pseudo-inverse method: that is, the solution of the problem is transform...

AI Technical Summary

Problems solved by technology

Its disadvantage is that it is difficult to deal with inequality constraints, the amount of calculation is large, and the real-time performance is poor. Moreover, it will encounter singular situations and generate infeasible solutions, which are greatly restricted in the application of actual manipulators.

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