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Double-layer personification motion planning method for seven-freedom-degree simulated human mechanical arm

A technology of anthropomorphic motion and motion planning, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of not being able to simultaneously optimize the path of the end effector of the humanoid manipulator and the configuration of the manipulator, and not applicable to the tasks of the manipulator space planning issues

Active Publication Date: 2017-05-31
HEFEI HEBIN INTELLIGENT ROBOTS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the problem that the existing seven-DOF humanoid manipulator path planning method based on the Bi-RRT* algorithm is not suitable for the task space planning of the humanoid manipulator, and cannot simultaneously optimize the path and the path of the end effector of the humanoid manipulator. For the problem of the configuration of the manipulator, a two-layer anthropomorphic motion planning method for a seven-degree-of-freedom humanoid manipulator is proposed

Method used

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  • Double-layer personification motion planning method for seven-freedom-degree simulated human mechanical arm
  • Double-layer personification motion planning method for seven-freedom-degree simulated human mechanical arm
  • Double-layer personification motion planning method for seven-freedom-degree simulated human mechanical arm

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Embodiment 1

[0083] Embodiment one: combine below Figure 1 to Figure 6 This embodiment will be described in detail. The two-layer anthropomorphic motion planning method of the seven-degree-of-freedom humanoid manipulator described in this embodiment includes a first-level motion planning and a second-level motion planning, and the first-level motion planning is the task space of the humanoid manipulator in a complex environment The anthropomorphic path planning of the second layer of motion planning is the anthropomorphic arm configuration planning of the available arm configuration space of the humanoid manipulator along the collision-free path at the end;

[0084] The methods include:

[0085] Step 1. In the task space of the humanoid manipulator, plan an anthropomorphic collision-free path from its initial position to the target position for the end effector of the humanoid manipulator;

[0086] Step 2, smoothing the collision-free path by using a path smoothing method based on smoot...

Embodiment 2

[0220] Embodiment 2: This embodiment is to further limit the two-layer anthropomorphic motion planning method of the seven-degree-of-freedom humanoid manipulator described in the first embodiment.

[0221] The double-layer anthropomorphic motion planning method of the seven-degree-of-freedom humanoid manipulator described in this embodiment, step D includes:

[0222] Step a. Determine whether the fourth joint exceeds the limit, if the fourth joint exceeds the limit, the new growth path point is invalid, otherwise, perform step b;

[0223] Step b. Determine whether the available arm configuration set is empty, if the available arm configuration set is empty, the new growth path point is invalid, otherwise, perform step c;

[0224] Step c, judging whether the new growth path point and the previous growth path point are in the same arm angle area, if they are in the same arm angle area, the new growth path point is valid, otherwise, perform step d;

[0225] Step d. Determine whe...

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Abstract

The invention discloses a double-layer personification motion planning method for a seven-freedom-degree simulated human mechanical arm, and belongs to the technical field of the mechanical arm control. The problems that the current seven-freedom-degree simulated human mechanical arm path planning method based on a Bi-RRTX algorithm is not suitable for the task space planning of the simulated human mechanical arm, and the path of an end effector and the mechanical arm configuration of the simulated human mechanical arm cannot be optimized at the same time can be solved. The method comprises the steps of planning a collisionless path for the end effector, executing the smoothing treatment to the collisionless path, calculating all usable mechanical arm configurations, selecting an optimal mechanical arm configuration set according to the kinematics characteristic of a human arm and controlling the simulated human mechanical arm to successively complete all arm configurations in the optimal mechanical arm configuration set. In the step of planning the collisionless path, an end new growth path point validity judgment method based on arm configuration description is used for replacing the collision detection method in the current Bi-RRTX algorithm. The method is suitable for the double-layer personification motion planning of the seven-freedom-degree simulated human mechanical arm.

Description

technical field [0001] The invention relates to the field of manipulator control, in particular to a two-layer anthropomorphic motion planning method for a seven-degree-of-freedom humanoid manipulator in a complex environment. Background technique [0002] At present, the obstacle avoidance path planning method based on random sampling is widely used in the motion planning of seven degrees of freedom humanoid manipulator. This type of method provides the feasibility information of sampling points through the collision detection module, connects a series of points sampled from free space, constructs a graph of feasible trajectories, and searches the feasible path from the starting point to the target point in this graph. This type of method does not require accurate modeling of obstacles in the joint space of the humanoid manipulator, so the amount of calculation is small. Even if the trajectory of the humanoid manipulator is planned in a high-dimensional space, its efficienc...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/04
CPCB25J9/048B25J9/1605B25J9/1643B25J9/1664
Inventor 夏晶
Owner HEFEI HEBIN INTELLIGENT ROBOTS CO LTD
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