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A Motion Planning Method for Obstacle Avoidance Based on Sudden Acceleration

A technology of motion planning and obstacles, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as exceeding the limit of sudden increase, not being able to consider the limit of sudden increase, and unsatisfactory, and achieve the effect of small amount of calculation

Active Publication Date: 2016-08-03
SUN YAT SEN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

However, this cannot meet the requirements of some redundant manipulators with jerk control, and it cannot take jerk limits into account, which may cause the manipulator to exceed the jerk limit during motion

Method used

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  • A Motion Planning Method for Obstacle Avoidance Based on Sudden Acceleration
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  • A Motion Planning Method for Obstacle Avoidance Based on Sudden Acceleration

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the drawings, but the embodiments of the present invention are not limited to this.

[0027] figure 1 An obstacle avoidance motion planning method based on sudden addition is shown. First, the obstacle avoidance performance index and constraints based on sudden addition are proposed, and a quadratic optimization redundancy analysis scheme is generated; then the quadratic optimization The redundancy analysis solution is transformed into a quadratic programming problem; then a quadratic programming solver is used to solve it; finally, the lower computer controller controls the movement of the robotic arm according to the solution result.

[0028] figure 2 The robot arm shown to realize the present invention is a robot arm with seven degrees of freedom. The robotic arm is composed of seven links, which are composed of joint 1, joint 2, joint 3, joint 4, joint 5, joint 6 and joint 7.

[0029] The quadrati...

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Abstract

The invention discloses a barrier escaping motion planning method based on an impact degree. The method comprises the steps of 1) designing barrier escaping motion performance indices based on the impact degree so that the designed motion performance indices are subject to a Jacobian matrix equation based on the impact degree, a barrier escaping inequation based on the impact degree, joint angle limitation, joint speed limitation, joint acceleration limitation and joint impact degree limitation, and generating a quadratic form optimization redundancy analysis scheme, 2) transforming the quadratic form optimization redundancy analysis scheme generated in the step 1) into a secondary planning problem, 3) solving the secondary planning problem in the step 2) by use of a secondary planning solver, and 4) transferring the solution result of the step 3) to a lower computer controller to drive a mechanical arm to move. According to the barrier escaping motion planning method, the barrier escaping motion performance indices based on the impact degree are designed, the mechanical arm is controlled to escape a barrier at an impact degree layer, and meanwhile, the mechanical arm is capable of completing a given tail end task.

Description

Technical field [0001] The invention relates to the field of redundant manipulator motion planning and control, in particular to an obstacle avoidance motion planning method based on sudden acceleration (derivative of acceleration, Jerk). Background technique [0002] Redundant manipulator is a kind of manipulator with more degrees of freedom than the minimum number of degrees of freedom required to perform tasks, and is widely used in various national economic production activities. Redundancy resolution is an important issue in operating redundant manipulators, that is, based on different optimization performance indicators and secondary tasks, the end position and posture of the redundant manipulator are used to determine the optimal joints of the manipulator. The problem of perspective. The secondary tasks of redundant manipulators include obstacle avoidance, joint limit angle avoidance and repetitive motion, which are usually described as equality constraints, inequality co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/18
Inventor 张雨浓晏小刚陈德潮
Owner SUN YAT SEN UNIV
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