CN102514008A - Method for optimizing performance indexes of different layers of redundancy mechanical arm simultaneously - Google Patents
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Abstract
The invention provides a method for optimizing performance indexes of different layers of a redundancy mechanical arm simultaneously. The method comprises the following steps: according to performance indexes of an angle layer, a speed layer and an acceleration layer which are to be optimized, establishing a corresponding redundancy analytical scheme by introducing a weight regulatory factor, wherein the analytical scheme is constrained by Jacobin matrix equation of speed and acceleration, a kinetic equation of a mechanical arm, joint angle limit, joint speed limit, joint acceleration limit and joint torque limit; converting the redundancy analytical scheme into a uniform quadratic problem by utilizing equivalence of the performance indexes of the three layers and introducing equivalence parameters; solving a quadratic planning problem by using a quadratic planning solver; and driving the mechanical arm to complete a given end task by a lower computer controller according to solution. According to the invention, the weight regulatory factor is intruded to optimize the performance indexes of different layers at the same time, and the mechanical arm can complete the given end task.
Description
Technical Field
The invention relates to the field of redundant manipulator motion planning and control, in particular to a method for simultaneously optimizing performance indexes of different layers of a redundant manipulator.
Background
A redundant manipulator is a mechanical device with a degree of freedom greater than the minimum degree of freedom required to perform end-point tasks, including welding, painting, assembly, digging, and drawing. One key problem in redundant robotic arm operation is the redundancy resolution problem (including inverse kinematics and inverse kinematics problems), i.e., the problem of determining the joint angle of the robotic arm by knowing the pose of the end of the robotic arm. The currently available redundancy resolution schemes all perform the resolution on a single/same layer (such as a velocity layer, an acceleration layer or a moment layer). However, the single/layer optimization scheme has disadvantages: the acceleration limit and the moment limit are difficult to consider by a simple speed layer analysis scheme; the simple acceleration layer and the simple moment layer analysis scheme are easy to generate the phenomena of speed divergence and non-zero final-state speed.
Disclosure of Invention
The invention aims to provide a method for simultaneously optimizing performance indexes of different layers of a redundant manipulator, which is convenient to operate and has small workload.
In order to achieve the above object of the invention, the following technical solutions are adopted.
A method for simultaneously optimizing performance indexes of different layers of a redundant manipulator comprises the following steps:
according to performance indexes of an angle layer, a speed layer and an acceleration layer, establishing a corresponding redundancy resolution scheme by introducing weight adjusting factors which are used for adjusting the weight or proportion of the performance indexes needing to be optimized on the three layers in a total optimization index, wherein the resolution scheme is restricted by a Jacobian matrix equation of speed and acceleration, a kinetic equation of a mechanical arm, a joint angle limit, a joint speed limit, a joint acceleration limit and a joint moment limit;
the method comprises the steps that equivalence of performance indexes of an angle layer, a speed layer and an acceleration layer is utilized, equivalence parameters are introduced, the equivalence parameters are used for deducing equivalence of performance indexes of different layers, and the purpose or effect of performance equivalence can be achieved by setting values of the parameters when two indexes optimized on different layers are achieved, so that a redundancy analysis scheme can be converted into a uniform quadratic programming problem;
solving the quadratic programming problem through a quadratic programming solver;
and the lower computer controller drives the mechanical arm to complete a given end task according to the solution result of the quadratic programming problem.
In the above technical solution, the redundancy resolution scheme for simultaneously optimizing the performance indexes of the angle layer, the speed layer and the acceleration layer is designed as follows:
minimization
Is constrained to <math>
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Wherein,
and
corresponding to the performance index, alpha, to be optimized in the angular, velocity and acceleration layers, respectively1≥0、α2Not less than 0 and alpha3More than or equal to 0 is a weight value adjusting factor and ensures that two or more weight value adjusting factors are not zero at the same time; theta represents the angle of the joint,the velocity of the joint is represented by,
represents the joint acceleration, and tau represents the joint moment; constraint of equalityCorresponding to the tail end motion track of the mechanical arm in the speed layer, J represents the Jacobian matrix of the mechanical arm,
representing a velocity of the end effector of the robotic arm; constraint of equalityCorresponding to the motion track of the mechanical arm at the tail end of the acceleration layer,
the time derivative of the jacobian matrix J is represented,
representing an acceleration of the end effector of the robotic arm; constraint of equality
The method comprises the following steps of (1) taking a kinetic equation of the mechanical arm, wherein H represents an inertia matrix of the mechanical arm, c represents a centrifugal variable, and g represents a gravity variable; theta±、And τ±Representing joint angle limits, joint velocity limits, joint acceleration limits, and joint torque limits.
The redundancy analysis scheme for simultaneously optimizing the performance indexes of different layers is converted into a uniform quadratic programming problem by utilizing the equivalence of the performance indexes of the angle layer, the speed layer and the acceleration layer and introducing equivalence parameters, wherein the performance index is xTOx/2+pTx, the constraint condition is Cx ═ d, Ax ≦ b, x-≤x≤x+Wherein when only different layer energy minimization schemes are considered, when3When the value is more than 0, the decision variable x represents the joint acceleration, and Q can be adjusted by a weight value adjusting factor alpha1，α2，α3For identity matrix I, inertia matrix H and H2P may be adjusted by a weight adjustment factor alpha1，α2，α3And equivalence parameter pairs
C, g, and H, C ═ J,
when alpha is3When the value is 0, the decision variable x represents the joint speed, and Q can be adjusted by a weight value adjusting factor alpha1，α2The weighted sum of the identity matrix I is obtained, and p can be adjusted by a weight value adjusting factor alpha1The product of θ and the equivalence parameter, C ═ J,
upper labelTRepresenting the transpose of a matrix or vector, Ax ≦ b for joint moment limits and infinite norm constraints, x±The upper and lower x limits are indicated.
If the solution contains the minimum force performance index, according to alpha3The decision variable x is the vector augmentation of the corresponding variable and an auxiliary variable s, wherein the auxiliary variable s is a variable used for assisting the solving of the corresponding minimum force performance index variable in the quadratic programming problem, is a non-negative number and takes the absolute value of the maximum component in the minimum force performance index. The coefficient matrices Q and C and the coefficient vector p are also augmented with 0.
Solving the quadratic programming problem through a quadratic programming solver, which specifically comprises the following steps: further transforming the quadratic programming problem into a piecewise linear projection equation, thereby constructing a corresponding quadratic programming solver (such as a quadratic programming numerical algorithm) for solving;
and the lower computer controller drives the mechanical arm to complete a given end task according to the solution result of the quadratic programming problem.
Compared with the prior art, the invention has the following advantages:
the invention can effectively overcome the defects of a single/same layer optimization scheme, and provides the method for simultaneously optimizing the performance indexes of different layers of the redundant manipulator, which is convenient to operate and has small workload.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The method for simultaneously optimizing the performance indexes of different layers of the redundant manipulator shown in fig. 1 mainly comprises a redundancy analysis scheme 1 for establishing simultaneous optimization of the performance indexes of different layers, a quadratic programming problem 2, a quadratic programming solver 3, a lower computer controller 4 and the redundant manipulator 5.
Firstly, according to performance indexes of different layers to be optimized, a corresponding redundancy resolution scheme is established by introducing a weight value adjusting factor; then, converting the scheme into a uniform quadratic programming problem by utilizing the equivalence of the performance indexes of different layers and introducing equivalence parameters; constructing a corresponding quadratic programming solver (e.g., a quadratic programming numerical algorithm) to solve the problem; and finally, the solved result is used for driving each joint motor of the mechanical arm to enable the mechanical arm to complete a given end task.
According to the performance indexes of different layers to be optimized, by introducing a weight value adjusting factor, a redundancy resolution scheme for simultaneously optimizing the performance indexes of different layers can be designed as follows:
and (3) minimizing:
constraint conditions are as follows: <math>
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τ-≤τ≤τ+，(8)
wherein,
andcorresponding to the performance index, alpha, to be optimized in the angular, velocity and acceleration layers, respectively1≥0、α2Not less than 0 and alpha3More than or equal to 0 is a weight value adjusting factor and ensures that two or more weight value adjusting factors are not zero at the same time; theta represents the angle of the joint,
the velocity of the joint is represented by,
represents the joint acceleration, and tau represents the joint moment; constraint of equality
Corresponding to the motion track of the mechanical arm at the tail end of the speed layer, J represents a Jacobian matrix,representing a velocity of the end effector of the robotic arm; constraint of equality
Corresponding to the motion track of the mechanical arm at the tail end of the acceleration layer,
the time derivative of the jacobian matrix J is represented,
representing an acceleration of the end effector of the robotic arm; constraint of equality
The method comprises the following steps of (1) taking a kinetic equation of the mechanical arm, wherein H represents an inertia matrix of the mechanical arm, c represents a centrifugal variable, and g represents a gravity variable; theta±、
And τ±Respectively representing joint angle limit, joint velocity limit, joint acceleration limit and joint moment limit.
By using the equivalence principle of different layer performance indexes and introducing equivalence parameters, the method (1) to (8) for simultaneously optimizing the performance indexes of the different layers of the redundant manipulator with the physical constraint can be described as a quadratic programming problem as follows:
and (3) minimizing: x is the number ofTQx/2+pTx，(9)
Constraint conditions are as follows: cx ═ d, (10)
Ax≤b，(11)
x-≤x≤x+，(12)
Wherein when only different layer energy minimization schemes are considered, when3When the value is more than 0, the decision variable x represents the joint acceleration, and Q can be adjusted by a weight value adjusting factor alpha1，α2，α3For identity matrix I, inertia matrix H and H2P may be adjusted by a weight adjustment factor alpha1，α2，α3And a weighted sum of the equivalence parameter pairs θ, C, g, and H, C ═ J,
when alpha is3When the value is 0, the decision variable x represents the joint speed, and Q can be adjusted by a weight value adjusting factor alpha1，α2The weighted sum of the identity matrix I is obtained, and p can be adjusted by a weight value adjusting factor alpha1The product of θ and the equivalence parameter, C ═ J,
if the solution contains the minimum force performance index, according to alpha3And the decision variable x is the vector augmentation of the corresponding variable plus the auxiliary variable s, and the coefficient matrixes Q and C and the coefficient vector p are correspondingly augmented by adding 0. Upper labelTRepresenting the transpose of a matrix or vector, Ax ≦ b for joint moment limits and infinite norm constraints, x±Represents the upper and lower limits of x. For ease of understanding, consider a performance metric as "minimize
"and is constrained by the redundancy resolution scheme of (2) - (8), where α2> 0 and alpha3＞0，||·||2Representing the two-norm of the vector, using the equivalence of the performance indexes of different layers and introducing equivalence parameters, the scheme can be converted into a quadratic programming problem as described in (9) - (12), and the corresponding parameters are defined as follows:
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wherein I represents a unit matrix, the equivalence parameter lambda is positive and far greater than 0, and the joint limit conversion parameter kappap> 0 and kappavAnd > 0, and a joint limit conversion margin upsilon > 0.
Also, the above quadratic programming problems (9) to (12) are equivalent to the following piecewise linear projection equations:
PΩ(y-(My+q))-y＝0，(13)
wherein P isΩ(. cndot.) represents a piecewise linear projection operator. The primal-dual decision variable vector y, the augmented coefficient matrix M and the vector q in the piecewise linear projection equation (13) are respectively defined as follows:
wherein the dual decision variables u and v correspond to the equality constraint (10) and the inequality constraint (11), respectively. For the piecewise-linear projection equation (13) and the quadratic programming problems (9) - (12) described above, the following quadratic programming numerical algorithm (i.e., quadratic programming solver) can be employed to solve:
e(yk)＝yk-PΩ(yk-(Myk+q))，
yk+1＝yk-ρ(yk)φ(yk)，
φ(yk)＝(MT+I)e(yk)，
wherein the iteration number k is 0, 1, 2. Given an initial value y0Through continuous iteration of the algorithm, the solution of the piecewise linear projection equation (13) can be obtained, so that the optimal solution of the quadratic programming problems (9) - (12) is obtained, namely the optimal solution of the redundancy resolution schemes (1) - (8) with different layer performance indexes optimized simultaneously.
And after the solution of the quadratic programming problem is obtained through a quadratic programming solver, the solution result is transmitted to the lower computer controller to drive the mechanical arm to move, so that the mechanical arm can complete a given end task.
Claims (6)
1. A method for simultaneously optimizing performance indexes of different layers of a redundant manipulator is characterized by comprising the following steps:
according to performance indexes of an angle layer, a speed layer and an acceleration layer, establishing a corresponding redundancy analysis scheme by introducing weight adjusting factors, wherein the redundancy analysis scheme is restricted by a Jacobian matrix equation of speed and acceleration, a kinetic equation of a mechanical arm, a joint angle limit, a joint speed limit, a joint acceleration limit and a joint moment limit;
converting the redundancy resolution scheme into a uniform quadratic programming problem by utilizing the equivalence of performance indexes of an angle layer, a speed layer and an acceleration layer and introducing equivalence parameters;
solving the quadratic programming problem through a quadratic programming solver;
and the lower computer controller drives the mechanical arm to complete a given end task according to the solution result of the quadratic programming problem.
2. The method of claim 1, wherein the redundancy resolution scheme for simultaneously optimizing the performance indexes of different layers of the manipulator is designed as follows:
minimization，
Wherein
、
And
respectively corresponding to performance indexes to be optimized on an angle layer, a speed layer and an acceleration layer,
、
and
is a weight value adjustment factorTwo or more weight value adjusting factors are not zero at the same time;
the angle of the joint is represented by,
the velocity of the joint is represented by,the acceleration of the joint is represented by,representing the joint moment.
3. The method of simultaneously optimizing performance indexes of different layers of a redundant manipulator according to claim 2, wherein the redundancy resolution scheme for simultaneously optimizing performance indexes of an angle layer, a velocity layer and an acceleration layer is constrained by:
wherein the equality constrains
Corresponding to the motion track of the mechanical arm at the tail end of the speed layer,
a jacobian matrix representing the mechanical arm,
representing a velocity of the end effector of the robotic arm; constraint of equality
Corresponding to the motion track of the mechanical arm at the tail end of the acceleration layer,
representing a Jacobian matrix
The time derivative of (a) of (b),
representing an acceleration of the end effector of the robotic arm; constraint of equality
Is a kinetic equation of the mechanical arm,
a matrix of inertia representing the arm of the robot,which represents a variable of the centrifugal force,
to indicate gravityA variable;
、
、
and
respectively representing joint angle limit, joint velocity limit, joint acceleration limit and joint moment limit.
4. The method of claim 3, wherein the quadratic programming problem has a performance index of
With the constraint condition of
，，
Wherein only different layer energy minimization schemes are considered when
Time, decision variables
The acceleration of the joint is represented by,
adjusted by weightFactor(s)
，
，
For unit matrixInertia matrix
And
the weighted sum of (a) and (b) is obtained,
adjusting the factor by the weight
，，
And equivalence parameter pairs
，
，
And
the weighted sum of (a) and (b) is obtained,
，
(ii) a When in useTime, decision variablesThe velocity of the joint is represented by,adjusting the factor by the weight
,
For unit matrix
The weighted sum of (a) and (b) is obtained,adjusting the factor by the weight
，
And an equivalence parameter, and obtaining the product of the equivalence parameter,
，
(ii) a Upper label
Representing a transpose of a matrix or a vector,
for joint moment limit and infinite norm constraints,
to represent
The upper and lower limits of (2).
5. The method of claim 4, wherein the simultaneous optimization of performance indexes of different layers of the redundant manipulator is performed according to the minimum force performance index if the simultaneous optimization of performance indexes of different layers includes the minimum force performance index
Difference in value, decision variable
Adding auxiliary variables to the above-mentioned correspondent variables
Vector augmentation of, the auxiliary variable
The value is the absolute value of the maximum component in the minimum force performance index, and the coefficient matrix
And
and coefficient vector
Also correspondingly addAnd (4) carrying out augmentation.
6. The method for simultaneously optimizing performance indexes of different layers of a redundant manipulator according to claims 1 to 5, wherein a quadratic programming problem is solved by a quadratic programming solver, specifically: and further transforming the quadratic programming problem into a piecewise linear projection equation, thereby constructing a corresponding quadratic programming solver for solving.
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| CN103231381A (en) * | 2013-05-03 | 2013-08-07 | 中山大学 | Novel acceleration layer repetitive motion planning method for redundant manipulator |
| CN103231381B (en) * | 2013-05-03 | 2015-10-21 | 中山大学 | A kind of novel acceleration layer repetitive motion planning method of redundancy mechanical arm |
| CN104760041A (en) * | 2015-03-19 | 2015-07-08 | 中山大学 | Barrier escaping motion planning method based on impact degree |
| CN104760041B (en) * | 2015-03-19 | 2016-08-03 | 中山大学 | A kind of Obstacle avoidance motion planning method based on impact degree |
| CN105563490A (en) * | 2016-03-03 | 2016-05-11 | 吉首大学 | Fault tolerant motion planning method for obstacle avoidance of mobile manipulator |
| CN106625680A (en) * | 2017-02-07 | 2017-05-10 | 华侨大学 | Redundant manipulator acceleration layer noise-tolerant control method |
| CN106625680B (en) * | 2017-02-07 | 2019-07-09 | 华侨大学 | A kind of redundancy mechanical arm acceleration layer appearance is made an uproar control method |
| CN106842907A (en) * | 2017-02-16 | 2017-06-13 | 香港理工大学深圳研究院 | A kind of cooperative control method and device of multi-redundant mechanical arm system |
| CN109249388A (en) * | 2017-07-14 | 2019-01-22 | 欧姆龙株式会社 | Movement generation method, motion generation device, motion generation system and storage medium |
| CN108098777A (en) * | 2018-01-12 | 2018-06-01 | 华侨大学 | A kind of redundancy mechanical arm torque layer repeating motion control method |
| CN110014427A (en) * | 2019-03-26 | 2019-07-16 | 华侨大学 | A kind of redundancy mechanical arm high-precision motion planing method based on pseudoinverse |
| CN110014427B (en) * | 2019-03-26 | 2021-11-02 | 华侨大学 | Pseudo-inverse-based high-precision motion planning method for redundant mechanical arm |
| CN110308727A (en) * | 2019-07-12 | 2019-10-08 | 沈阳城市学院 | A kind of control method for eliminating biped robot's upper body posture shaking |
| CN110561440A (en) * | 2019-09-27 | 2019-12-13 | 华侨大学 | multi-objective planning method for acceleration layer of redundant manipulator |
| CN110561440B (en) * | 2019-09-27 | 2022-06-07 | 华侨大学 | Multi-objective planning method for acceleration layer of redundant manipulator |
| CN110900605A (en) * | 2019-12-02 | 2020-03-24 | 浙江大学 | Multi-constraint machining optimization method for coordinated mechanical arm based on speed reconfiguration |
| CN112720455A (en) * | 2020-12-01 | 2021-04-30 | 深圳众为兴技术股份有限公司 | Optimal joint acceleration and deceleration calculation method and device and application thereof |
| CN112720455B (en) * | 2020-12-01 | 2022-05-10 | 深圳众为兴技术股份有限公司 | Optimal joint acceleration and deceleration calculation method and device and application thereof |
| CN114714351A (en) * | 2022-04-06 | 2022-07-08 | 上海工程技术大学 | Anti-saturation target tracking control method and control system for mobile mechanical arm |
| CN114714351B (en) * | 2022-04-06 | 2023-06-23 | 上海工程技术大学 | Anti-saturation target tracking control method and control system for mobile mechanical arm |
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