Obstacle avoidance method and system for ultra-redundant flexible robot, and computer storage medium

Abstract

The invention discloses an obstacle avoidance method and system of an ultra-redundant flexible robot, and a computer storage medium. The obstacles in the space are modeled by the space hyperquadric surface equation and the space geometric model respectively; with the obstacle as the center, The space around the obstacle is divided into safe area, warning area and dangerous area. The boundary between the safe area and the early warning area is the early warning boundary represented by the super quadratic function, and the boundary between the early warning area and the dangerous area is defined by the geometric function indicates the dangerous boundary; detect in real time whether the minimum pseudo-distance between the super-redundant flexible robot and the warning boundary is less than or equal to zero, if so, judge that the super-redundant flexible robot has reached the warning area; perform obstacle avoidance processing on the super-redundant flexible robot; real-time Detect whether the minimum Euclidean distance between the ultra-redundant flexible robot and the dangerous boundary is greater than zero, and if the judgment result is yes, judge the obstacle avoidance of the ultra-redundant flexible robot successfully; complete the obstacle avoidance planning of the ultra-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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