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A Fault Tolerant Planning Method for Acceleration Layer of Redundant Manipulator

An acceleration and manipulator technology, applied in the field of redundant manipulator fault-tolerant planning and control, it can solve the problems of inability to avoid obstacles and eliminate manipulators, achieve obstacle avoidance, eliminate the possibility of physical damage, In-depth and rigorous effect of the derivation process

Active Publication Date: 2017-06-20
SYSU CMU SHUNDE INT JOINT RES INST +1
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Problems solved by technology

However, the technical solution of this invention still has the following disadvantages: (1) it cannot eliminate the possibility that the mechanical arm exceeds the acceleration limit, thereby causing physical damage, and it cannot realize obstacle avoidance

Method used

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  • A Fault Tolerant Planning Method for Acceleration Layer of Redundant Manipulator
  • A Fault Tolerant Planning Method for Acceleration Layer of Redundant Manipulator
  • A Fault Tolerant Planning Method for Acceleration Layer of Redundant Manipulator

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] Such as figure 1 As shown, the fault-tolerant planning method of the redundant manipulator of the present invention first proposes the fault-tolerant performance index and constraints of the acceleration layer; then converts it into a corresponding QP; then applies the QP solver to solve; finally, the lower computer controller controls the Movement of the robotic arm.

[0026] See figure 2 As shown, the mechanical arm realizing the present invention is a planar six-link mechanical arm;

[0027] See image 3 As shown, it is a fault-tolerant schematic diagram of a planar six-link manipulator; a given terminal task is to draw a planar circle, and when both joints 1 and 2 fail to lock, the other joints will be adjusted to the optimal trajectory in time to ensure that the mechanical The end of the arm performs the task of drawing a circle.

[0028] See Figure...

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Abstract

The invention provides a fault-tolerant planning method for an accelerated speed layer of a redundancy mechanical arm. The fault-tolerant planning method includes the following steps that 1, accelerated speed layer fault tolerance performance indexes of a quadratic form are designed, and a quadratic form optimized redundancy analysis scheme is generated; 2, the quadratic form optimized redundancy analysis scheme in the step 1 is converted into QP, and namely secondary planning is achieved; 3, the QP in the step 2 is solved by using a QP solver; 4, a solution result of the step 3 is transmitted to a lower computer controller to control the mechanical arm to move. As the novel accelerated speed layer fault tolerance performance indexes of the redundancy mechanical arm are designed, it is ensued that an end effector can still complete requested tasks under the condition that a joint is locked due to errors, the safety and effectiveness of the redundancy mechanical arm are improved, and the fault-tolerant planning method has good prospects in the field of engineering application.

Description

technical field [0001] The invention relates to the field of fault-tolerant planning and control of redundant manipulators, in particular to an inverse kinematics analysis method of redundant manipulators. Background technique [0002] The redundant manipulator has the characteristic that the number of joint degrees of freedom is greater than the minimum degree of freedom required by the task space, that is, when completing a specific task, the manipulator has redundant degrees of freedom. Its application range is very wide, ranging from the exploration of the deep sea and space, to product processing and home services. 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. Due to the redundant degrees of freedom, the inverse kinematics problem of the redundant manipulator has infinitely many solutions, that is, to ensure that the end of the manipulator can co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1643B25J9/1651
Inventor 张雨浓王金金金龙晏小刚谭洪舟
Owner SYSU CMU SHUNDE INT JOINT RES INST
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