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A trajectory generation method for a mobile robot based on second-order cone programming

A second-order cone planning and mobile operation technology, applied in the field of robotics, can solve problems such as complex dynamic equations, long time consumption, and no application of mobile operation robots.

Active Publication Date: 2021-07-06
ZHEJIANG LAB
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The advantage of this method is that it can take into account the dynamic performance. The disadvantage is that when the robot has many degrees of freedom and the structure is relatively mixed, the time consumption will be longer because the dynamic equation becomes extremely complicated.
Therefore, the current trajectory method based on the second-order cone planning has not been applied to the field of mobile robots.

Method used

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  • A trajectory generation method for a mobile robot based on second-order cone programming
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  • A trajectory generation method for a mobile robot based on second-order cone programming

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Embodiment 1

[0205] This embodiment discloses a method for generating a trajectory of a mobile operating robot based on second-order cone planning. The specific implementation steps are as follows:

[0206] Step 1: the robot involved in the embodiment of the present invention such as figure 1 As shown, the path planned by the RRT-Connect algorithm is as follows figure 2 As shown, its chassis is a cuboid with a length of 60cm, a width of 40cm, and a height of 20cm. 2 . There are four omnidirectional mecanum wheels on the chassis. The mechanical arm loaded on the chassis has four cylindrical connecting rods, the first connecting rod is 0.1m long and the radius is 0.03m; the second connecting rod is 0.5m long and the radius is 0.03m; the third connecting rod The length is 0.1m and the radius is 0.03m; the fourth connecting rod is 0.4m long and the radius is 0.03m. Then the end of the fourth connecting rod is connected with a mechanical gripper. For the convenience of calculation, its ma...

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Abstract

The invention discloses a trajectory generation method of a mobile working robot based on second-order cone planning, which decomposes the planning process of moving and grasping objects of the mobile working robot into a path planning process and a process of planning a suitable trajectory on this basis. First, use the existing RRT‑Connect method to plan the working path of the mobile working robot; then, use the overall Jacobian matrix of the mobile working robot and combine the Lagrangian equation to derive the overall dynamic equation of the mobile working robot; The multi-dimensional trajectory planning of the mobile robot is transformed into a one-dimensional pseudo-trajectory planning problem, and then the problem is transformed into a standard form of second-order cone planning; finally, the planning is completed by using the Sedumi second-order cone planning package of matlab. The method proposed by the present invention can propose a trajectory with the shortest time under the dynamic constraints or the trajectory with the shortest time and the minimum energy consumption in real time for a given path.

Description

technical field [0001] The invention relates to a trajectory generation method of a mobile operating robot based on second-order cone planning, and belongs to the technical field of robots. Background technique [0002] The mobile operating robot combines the mobile chassis with the operating arm, which can effectively expand the working range of the robot and improve the flexibility of the robot. At present, it has been widely used in service robots, new industrial robots and military aerospace robots. According to the different mobile chassis, mobile operating robots can be divided into differential chassis mobile operating robots, omnidirectional wheel chassis mobile operating robots, and suspension chassis mobile operating robots. The first two types of robots have been widely used in ground service robots and industrial robots, while the third type of robots includes underwater mobile operation robots, space operation robots, and drones with operating arms. [0003] W...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/19
CPCG05B19/19G05B2219/35349
Inventor 李玮沈方岩顾建军朱世强
Owner ZHEJIANG LAB
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