A path planning method for hyper-redundant manipulators

Abstract

The invention relates to a path planning method for a super-redundant mechanical arm. Step 1: establish a kinematic model for the super-redundant mechanical arm, and determine the conversion relationship between rope length, declination and coordinates; step 2: establish an obstacle model, Determine the inaccessible area corresponding to the obstacle; Step 3: On the basis of Step 1, through the law of sine and two extreme points, theoretically analyze the maximum angle Ψ between two adjacent straight line paths max The maximum value ψ of the change in the deflection angle of the boom during the movement of the end point of the ith boom along one of the straight paths max , arm length L i , the path step size l w Step 4: According to the unreachable area determined in Step 2 and the constraint relationship in Step 3, an improved RRT algorithm is proposed for path planning. The feasibility and optimization of the present invention are better than those of traditional algorithms.

Description

technical field [0001] The invention relates to the technical field of robotic arm path planning, in particular to a hyper-redundant robotic arm path planning method based on an improved RRT algorithm. Background technique [0002] In many fields, path planning technology has been widely used. However, with the development of science and technology and the improvement of demand, it is difficult for traditional path planning algorithms to meet the planning conditions in complex environments. The Rapidly-Exploring Random Tree (RRT) algorithm based on node sampling has the advantages of both path planning for complete systems and autonomous pathfinding for non-complete systems by adding constraints. Path planning in complex environments opens up a solution. [0003] The RRT algorithm has made great progress in the field of path planning, but the algorithm still has shortcomings such as large amount of calculation, unstable path, low node utilization, and it is not easy to obt...

AI Technical Summary

Problems solved by technology

[0003] The RRT algorithm has made great progress in the field of path planning, but the algorithm still has shortcomings such as large amount of calculation, unstable paths, low node utilization, and difficult to obtain paths that meet the conditions.

And there are few algorithms that analyze how to plan the path under the condition of joint deflection limit, so that the robot arm can pass through the narrow space

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