Obstacle avoiding method and system for super-redundant flexible robot and computer storage medium

Abstract

The invention discloses an obstacle avoiding method and system for a super-redundant flexible robot, and a computer storage medium. The obstacle avoiding method comprises the following steps: modelingan obstacle in a space by using a space super quadratic curved surface equation and a space geometric model respectively; partitioning the space around the obstacle into a safety area, an early-warning area and a danger area by taking the obstacle as the center, wherein a boundary between the safety area and the early-warning area is an early-warning boundary expressed by a super quadratic function, and a boundary between the early-warning area and the dangerous area is a danger boundary expressed by a geometric function; detecting whether the minimum pseudo-distance between the super-redundant flexible robot and the early-warning boundary is less than or equal to zero or not in real time, if so, judging that the super-redundant flexible robot reaches the early-warning area; implementingobstacle avoiding processing on the super-redundant flexible robot; detecting whether the minimum Euclidean distance between the super-redundant flexible robot and the danger boundary is larger than zero or not in real time, and if so, judging that the super-redundant flexible robot avoids the obstacle successfully; finishing the obstacle avoiding plan of the super-redundant flexible robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to an obstacle avoidance method and system for a super-redundant flexible robot, and a computer storage medium. Background technique [0002] The actual working environment of ultra-redundant robots is often complex, and it needs to meet the requirements of avoiding environmental obstacles while performing expected tasks. When the working environment is known or the working environment can be detected by specific means, the robotic arm with redundant degrees of freedom can complete the main task while avoiding additional tasks such as obstacles in the environment. [0003] First, obstacle modeling is one of the key issues in obstacle avoidance planning algorithms. In order to reduce the amount of calculation and improve the efficiency of obstacle avoidance, a simple geometric model and its combination are usually used to characterize the manipulator and its working environment. Colbau...

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Problems solved by technology

On the contrary, if a relatively accurate model is used, the amount of calculation is always large in the process of obstacle avoidance, which takes up more computing resources of the computer and storage resources of the device.

[0006] In addition, the existing obstacle avoidance planning methods are mainly aimed at 6-DOF manipulators, 7-DOF manipulators or planar redundant manipulators. There are few researches on obstacle avoidance planning methods for super-redundant robots in three-dimensional space, which cannot meet the requirements of super-redundant robots. Requirements for robot obstacle avoidance planning in three-dimensional space

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