Repetitive motion planning method for redundant manipulator

Abstract

The invention provides a repetitive motion planning method for a redundant manipulator, which comprises the following steps of: 1) resolving a manipulator repetitive motion scheme on an acceleration layer by adopting quadratic model optimization through an upper computer, designing the minimum performance index as repetitive motion, and restraining by an acceleration Jacobian equation, a joint angle limit, a joint speed limit and a joint acceleration limit; 2) converting the quadratic model optimization in the step 1) into standard quadratic programming; 3) solving the standard quadratic programming in the step 2) by using a linear projection equation-based primal-dual neural-network solver or quadratic programming numerical method; and 4) transmitting a solving result in the step 3) to acontroller of a lower computer for driving the manipulator to move. The method realizes the repetitive motion of the manipulator on the acceleration layer, has good control effect on the redundant manipulator inconvenient to control, and can effectively prevent the manipulator from exceeding the limits and being physically damaged according to various joint limits.

Description

technical field [0001] The invention relates to the field of redundant manipulator control, in particular to an inverse kinematics solution method of a redundant manipulator. Background technique [0002] 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. When the task at the end of the redundant manipulator is a closed curve, each joint may not be able to return to the initial position. This phenomenon is called the joint angle deviation phenomenon, or non-repetitive motion problem;...

AI Technical Summary

Problems solved by technology

[0003] Previous repetitive motion analysis methods were performed on the velocity layer, and the results obtained were all velocity values, which could not meet the requirements of some redundant manipulators with non-velocity control, and the solution method on the velocity layer did not consider Acceleration limit, the mechanical arm may be physically damaged due to exceeding the acceleration limit during the movement

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