Method for optimizing motion trail of redundant mechanical arm

Abstract

The invention discloses a method for optimizing the motion trail of a redundant mechanical arm. The method comprises the steps of building a space obstacle environment model and a mechanical arm model, according to the space obstacle environment model, the mechanical arm model and a preset A * algorithm, determining an initial obstacle avoidance path of the mechanical arm moving from a preset starting point to a preset target point in the obstacle environment; establishing a mechanical arm motion optimization mathematical model on the basis of a preset gradient projection algorithm, determining track optimization vectors according to preset task requirements, and using the mathematical model to optimizing the motion speed of the mechanical arm; and according to the mathematical model, determining a mechanical arm joint motion law between any two adjacent nodes in the initial obstacle avoidance path, and according to the motion law and the trajectory optimization vector, optimizing the initial obstacle avoidance path to obtain an optimized path. According to the method for optimizing the motion trail of the redundant mechanical arm, the technical problem that in the prior art, track optimization of a mechanical arm cannot meet actual requirements is solved.

Description

technical field [0001] The present application relates to the technical field of motion trajectory optimization of a mechanical arm, and in particular to a method for optimizing a motion trajectory of a redundant robotic arm. Background technique [0002] With the development of spacecraft technology, spacecraft is widely used in many fields, and the robotic arm is an important part of the spacecraft. During the process of performing on-orbit operation tasks, the space manipulator may collide with environmental objects or itself due to the constraints of the external environment and its own structure, which seriously affects the safe operation of the manipulator. In particular, when the base is in a free-floating state, the space manipulator collides with obstacles during the mission, resulting in serious consequences such as the deviation of the manipulator and the instability of the base. Therefore, the obstacle avoidance trajectory planning of the space manipulator is ve...

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by this application is: the trajectory optimization for the prior art mechanical arm cannot meet the actual needs

Images