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Moving mechanical arm obstacle avoidance planning method based on random sampling

A mobile robot arm and random sampling technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., to achieve the effect of simplifying the solution complexity and reducing the computational complexity

Active Publication Date: 2020-10-13
ZHEJIANG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to propose an obstacle avoidance path planning based on a random sampling algorithm for mobile manipulators to solve the problem of rapid obstacle avoidance planning for mobile manipulators in a given field

Method used

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  • Moving mechanical arm obstacle avoidance planning method based on random sampling
  • Moving mechanical arm obstacle avoidance planning method based on random sampling
  • Moving mechanical arm obstacle avoidance planning method based on random sampling

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Embodiment Construction

[0053] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Now in conjunction with the embodiment, Figure 1 to Figure 4 The present invention is further described:

[0055] The technical implementation scheme of the present invention is:

[0056] 1) Establish the kinematics model of the mobile manipulator:

[0057] The parameters of the mobile manipulator mobile platform are as follows:

[0058] Chassis parameter table

[0059]

[0060]

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Abstract

The invention discloses a moving mechanical arm obstacle avoidance planning method based on random sampling. The method comprises the following steps of firstly, modeling a mobile platform into a special mechanical arm formed by connecting a rotating joint on a moving joint in the x and y directions and combining the special mechanical arm with an original mechanical arm model to establish a forward kinematics model of an n-degree-of-freedom moving mechanical arm; then, analyzing the constraints in the motion planning process, and then designing a moving mechanical arm vehicle-arm integrated path planning algorithm flow; and finally, designing a redundant path bidirectionally deleting method used for path smoothing processing to perform smoothing processing on the path obtain in the last step. According to the method, the whole moving mechanical arm is modeled to the special mechanical arm containing the moving joint, so that the kinematics solving complexity is greatly simplified; andmeanwhile, the redundant path bidirectionally deleting algorithm is designed, which greatly reduces and smoothes the path planned by the RRT algorithm with the low computational complexity.

Description

technical field [0001] The invention belongs to the field of path planning, in particular to an obstacle avoidance path planning method based on a random sampling algorithm for a mobile manipulator, which can quickly plan an obstacle avoidance method for a mobile manipulator on a site with specified size and obstacles. feasible path. Background technique [0002] The mobile manipulator has both the mobility of a mobile platform and the operability of a manipulator, which are widely used in different industrial and production fields. Compared with traditional robots, which mainly focus on specific research directions, such as perception, planning, control, and artificial intelligence, mobile robotic arm systems are more inclined to be comprehensive systems that can complete a wider range of tasks in the actual environment. [0003] Since the interaction between the mobile platform and the robotic arm is not considered, and the combination of the mobile platform and the robot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/163B25J9/1664
Inventor 陈正邵珺唐建中聂勇朱世强
Owner ZHEJIANG UNIV
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