Redundant manipulator repeated motion programming method based on abrupt acceleration

Abstract

The invention discloses a redundant manipulator repeated motion programming method based on the abrupt acceleration. The method includes the steps that firstly, a manipulator repeated motion scheme is analyzed on an abrupt acceleration layer through an upper computer by adopting quadratic optimization, and the minimum performance index is designed as repeated motion; secondly, the quadratic optimization in the first step is converted into standard quadratic programming; thirdly, the standard quadratic programming in the second step is solved through a quadratic programming solver; fourthly, a solution result in the third step is transmitted to a lower computer controller to drive a redundant manipulator to move. According to the method, by designing the redundant manipulator repeated motion programming performance index based on the abrupt acceleration, the redundant manipulator is controlled to conduct repeated motion on the abrupt acceleration layer, and meanwhile the redundant manipulator can complete given terminal tasks; for a redundant manipulator over which speed or acceleration control is inconvenient, a good control effect is achieved; furthermore, by considering various joint limits, physical damage caused when the manipulator operates beyond the limits can be effectively prevented.

Description

technical field [0001] The invention relates to the field of redundant mechanical arm motion planning and control, in particular to a repetitive motion planning method based on jerk (derivative of acceleration, Jerk). Background technique [0002] The redundant manipulator has the characteristic that the degree of freedom is greater than the minimum degree of freedom required by the task space, and is widely used in national economic production activities such as equipment manufacturing, product processing, and machine operations. 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. If the redundant manipulator cannot achieve repe...

AI Technical Summary

Problems solved by technology

Most of the previous repetitive motion analysis methods are carried out on the velocity layer (or acceleration layer), and the result obtained is the velocity value (or acceleration value), which cannot meet the redundancy of some non-velocity (or non-acceleration) control. The requirements of the mechanical arm, and their solution methods do not consider the limit of the sudden increase, and the mechanical arm may be physically damaged by exceeding the limit of the sudden increase during the movement

Images