Movement planning method with speed optimizing characteristic and for acceleration derivative layer of redundant manipulator

Abstract

The invention provides a movement planning method with the speed optimizing characteristic and for an acceleration derivative layer of a redundant manipulator. The movement planning method comprises the steps that a novel performance index with the speed optimizing characteristic is designed according to the performance index of the acceleration derivative layer of the redundant manipulator through two design parameters, namely the guiding-in speed and the acceleration speed; based on the novel performance index, a corresponding movement planning scheme for the acceleration derivative layer is established, and the planning scheme is restrained by the jacobian matrix of the speed, the acceleration speed and the acceleration derivative, the joint angle limit, the joint speed limit, the joint acceleration speed limit and the joint acceleration derivative limit; the planning scheme is converted into a quadratic optimization problem, and the quadratic optimization problem is solved through a solver according to a numerical algorithm; and a lower computer controller controls the manipulator to complete a given terminal task according to a solving result. According to the movement planning method with the speed optimizing characteristic and for the acceleration derivative layer of the redundant manipulator, speed optimization can be achieved on the acceleration derivative layer, and the speeds of all joints can be zero after the manipulator completes the given terminal task.

Description

technical field [0001] The invention relates to the field of motion planning of redundant manipulators, in particular to a sudden-acceleration layer motion planning method of redundant manipulators with the characteristic of speed optimization. Background technique [0002] A redundant manipulator is a mechanical device with more degrees of freedom than is required to perform terminal tasks. Its application has been extended to many industrial fields, such as welding assembly, space exploration and medical surgery. As the time derivative of acceleration, jerk has a great influence on the stability of the whole manipulator system, and it has a direct relationship with human motion. Therefore, the research of the manipulator on the sudden increase level has received extensive attention in recent years, and many motion planning schemes have been proposed one after another. However, these planning schemes often do not consider the physical limit of the joints of the manipulator...

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Problems solved by technology

However, these planning schemes often do not consider the physical limit of the joints of the manipulator, and the fin

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