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Multi-joint mechanism trajectory planning method, device, electronic equipment and storage medium

A trajectory planning and multi-joint technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as joint angle overruns, achieve the effect of solving joint angle overruns and reducing the difficulty of optimization

Active Publication Date: 2022-06-07
ZOOMLION HEAVY IND CO LTD
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Problems solved by technology

[0005] In view of this, the present invention provides a multi-joint mechanism trajectory planning method, device, electronic equipment and storage medium, which can be applied to the concrete pump truck boom, realize the linear motion of the joint end, and solve the problem that the joint angle exceeds the limit during the movement

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  • Multi-joint mechanism trajectory planning method, device, electronic equipment and storage medium
  • Multi-joint mechanism trajectory planning method, device, electronic equipment and storage medium

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[0064] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be embodied in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and thus their repeated descriptions will be omitted.

[0065] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the present invention. However, those skilled in the art will appreciate that the technical solutions of the present invention may be practiced without one or m...

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Abstract

The present invention relates to a trajectory planning method, device, electronic equipment and storage medium of a multi-joint mechanism; the method includes: determining the first point in the movement process of the terminal of the multi-joint mechanism from the starting point A to the ending point B based on the joint space trajectory planning method; Joint trajectory planning data; based on the generalized inverse matrix method, the second joint trajectory planning data for the end of the multi-joint mechanism moving along a straight line from the starting point A to the ending point B is determined; according to the preset motion advance, based on the second joint trajectory Planning data to plan the trajectory of each joint of the multi-joint mechanism; judge in real time whether the angle value of each joint in the trajectory planning exceeds the limit value of the joint angle, and if yes, optimize the joint posture in the trajectory of each joint of the multi-joint mechanism. The invention realizes the rectilinear motion of the end of the multi-joint mechanism, solves the problem that the joint angle exceeds the limit during the motion, and can realize the purpose of optimization for various initial configurations, thereby reducing the difficulty of optimization.

Description

technical field [0001] The present invention relates to the technical field of joint control, and in particular, to a trajectory planning method, device, electronic device and storage medium of a multi-joint mechanism. Background technique [0002] The boom of a concrete pump truck is a multi-joint mechanism with redundant degrees of freedom in series. It has always been a problem in the industry to realize the joint trajectory planning of the linear motion of the end from point A to point B. The joint space planning of the redundant degree-of-freedom boom can realize the movement of the boom end from point A to point B, but the movement trajectory of the boom end is not a straight line; based on the gradient projection method, the linear motion of the boom end can be realized, but It is easy to cause the joint angle to exceed the limit, so that the end of the boom cannot reach point B. [0003] Therefore, there is a need for a new method, device, electronic device and stor...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1612
Inventor 皮皓杰付玲杨召刘延斌于晓颖
Owner ZOOMLION HEAVY IND CO LTD
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