CN108237534A - A kind of space collision free trajectory method of continuous type mechanical arm - Google Patents
A kind of space collision free trajectory method of continuous type mechanical arm Download PDFInfo
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- CN108237534A CN108237534A CN201810008580.7A CN201810008580A CN108237534A CN 108237534 A CN108237534 A CN 108237534A CN 201810008580 A CN201810008580 A CN 201810008580A CN 108237534 A CN108237534 A CN 108237534A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The invention discloses a kind of space collision free trajectory methods of continuous type mechanical arm, include the following steps：Establish the kinematics model of continuous type mechanical arm, end spaces track is generated according to mission requirements, the georeferencing curve of mechanical arm configuration is established using mode function, its end is enable to reach desired locations, mechanical arm configuration and georeferencing curve are fitted according to single-unit mechanical arm deformation characteristics, according to the configuration that single hop arm section is calculated with reference to match point, whether detection continuous type mechanical arm collides with barrier, the configuration of mechanical arm is adjusted according to Robot dodge strategy, realizes avoidance.The space collision free trajectory method of continuous type mechanical arm proposed by the present invention can realize the space obstacle-avoiding route planning of continuous type mechanical arm.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of space collision free trajectories of continuous type mechanical arm
Method.
Background technology
By the inspiration of nature biotechnology body configuration example such as trunk, tendril, class etc., there is the continuous of continuous modification structure
Humanoid robot relevant design and technology are increasingly paid attention to.Continuous humanoid robot, which refers to have, is capable of the one of continuous modification structure
Class mechanical arm.Compared to tradition machinery arm, continuous type mechanical arm has very strong flexibility and inherent compliance, therefore special
The operation not being suitable in complicated non-structure environment and being interacted with human hair life for task.However, due to continuous type mechanical arm
Motion model is more complicated, and the obstacle-avoiding route planning under complex environment is a very challenging problem, especially
Be for the continuous type mechanical arm with hyper-redundant, if using common Jacobian matrix pseudoinverse technique, calculation amount compared with
Greatly, thus a kind of fairly simple space avoidance planning algorithm of research be very important.
The disclosure of background above technology contents is only used for design and the technical solution that auxiliary understands the present invention, not necessarily
So belong to the prior art of present patent application, show the applying date of the above in present patent application in no tangible proof
In the case of having disclosed, above-mentioned background technology should not be taken to the novelty and creativeness of evaluation the application.
Invention content
In order to solve the above technical problems, the present invention proposes a kind of collision free trajectory method in continuous type mechanical arm space,
It can realize the space obstacle-avoiding route planning of continuous type mechanical arm.
In order to achieve the above object, the present invention uses following technical scheme：
The invention discloses a kind of space collision free trajectory methods of continuous type mechanical arm, include the following steps：
S1：The kinematics model of continuous type mechanical arm is established, wherein the continuous type mechanical arm includes whole arm, it is described whole
Arm includes single oil cylinder section；
S2：According to mission requirements, the space tracking of the end tracking of whole arm is generated；
S3：With reference to the space tracking that the end of whole arm tracks, the ginseng of continuous type mechanical arm configuration is established using mode function
Examine curve；
S4：The reference point per joint arm section terminal position is chosen in reference curve in step s3；
S5：With reference to joint arm section end position every in the kinematics model of the continuous type mechanical arm in step S1 and step S4
The reference point put calculates the structure parameters per joint arm section, and fitting obtains the configuration of continuous type mechanical arm；
S6：Whether detection collides per joint arm section with the barrier in environment, in case of colliding, then performs step
S7；
S7：The reference point per joint arm section terminal position is corrected, until new mechanical arm configuration being capable of avoiding obstacles；
S8：With reference to revised per joint arm in the kinematics model of the continuous type mechanical arm in step S1 and step S7
The reference point update of section terminal position calculates the structure parameters per joint arm section, and fitting obtains updated continuous type mechanical arm
Configuration.
Preferably, step S1 is specifically included：The kinematics model of continuous type mechanical arm is established, obtains single oil cylinder section composition
The homogeneous transform matrix of continuous type mechanical arm be：
Wherein,i-1TiFor the homogeneous coordinate transformation matrix of single-unit arm section, M is arm segment number；Andi-1TiExpression formula be：
Wherein, RiDirection relations between the root and end of ∈ SO (3) description single-unit arm sections,Single-unit arm is described
Relative position of the end of section under the coordinate system of root；qi=[Θi,Φi]TThe structure parameters of i-th joint arm section, Θ are describediIt is curved
Bent angle, ΦiFor bending direction, L is per the length of joint arm section, and N is per the number of modules included in joint arm section.
Preferably, step S5 is specially：With reference to the expression formula of the homogeneous coordinate transformation matrix of single-unit arm section in step S1
(2) and structure parameters of the reference point calculating per joint arm section in step S4 per joint arm section terminal position, fitting obtain continuous type
The configuration of mechanical arm.
Preferably, step S8 is specially：With reference to the expression formula of the homogeneous coordinate transformation matrix of single-unit arm section in step S1
(2) and in step S7 the revised reference point per joint arm section terminal position calculates the structure parameters per joint arm section, is fitted
To the configuration of updated continuous type mechanical arm.
Preferably, step S2 further include the space tracking is carried out it is discrete take processing, obtain whole arm end and it is expected position
Put sequence [Xd1,Xd2,…,Xdj,…]。
Preferably, step S3 is specifically included：It is a space smooth curve by the single oil cylinder segment description of continuous type mechanical arm
For：
Wherein, l is length of curve, and s ∈ [0,1] are normalized location parameter, and X (s) is that the point at s on curve corresponds to
Space coordinate, u (σ) represents tangent line vector of the curve at s=σ.
Preferably, wherein after u (σ) carries out parametrization expression, formula (3) is expressed as：
α (s) and β (s) is the linear combination of mode function：
Wherein, fi(s) it is mode function,For mode shape coefficients to be solved.
Preferably, mode shape coefficients a is calculated using values below alternative manner：
ai=ai-1+ηJ-1(ai-1,1)(Xd-Xi-1) (7)
Wherein, J (ai-1, 1) and for mode shape coefficients matrix, Xi-1For the position of the whole arm end under the (i-1)-th iteration, η is normal
Number, XdFor the whole arm end desired locations sequence [X obtained from step S2d1,Xd2,…,Xdj...] and in a certain element.
Preferably, step S6 is specifically included：Pass through the most narrow spacing between the whole arm of digital simulation and barrier geometric center
From to judge whether whole arm collides with barrier.
Preferably, step S7 is specifically included：It records whole arm when colliding under current fitting result and barrier is several
The minimum range d at what centersAnd its direction vectorAnd the reference point of every joint arm section terminal position is repaiied using formula (8)
Just, until new mechanical arm configuration being capable of avoiding obstacles；
Wherein,It is to correct the obtained reference point of every joint arm section terminal position through the q times, r is represented in barrier geometry
For the heart to the maximum radius on its surface, γ is correction factor.
Compared with prior art, the beneficial effects of the present invention are：The continuous type mechanical arm space avoidance track of the present invention
Planing method employs mode function method, by establishing the reference curve of mechanical arm configuration, by complicated super redundant mechanical arm
Inverse Kinematics Problem be reduced to the inverse kinematics of single-unit continuous modification arm section, can realize the sky of continuous type mechanical arm
Between obstacle-avoiding route planning；The space obstacle-avoiding route planning for wherein realizing continuous type mechanical arm using the method for mode function has
Advantages below：(1) algorithm is simple, easy to implement, has many advantages, such as simple, efficient, reliable；(2) it can generate with end position
Put constraint with continuing reference to curve, joint position is determined using fitting, so as to by the letter of the Inverse Kinematics Problem of continuous type mechanical arm
Turn to the inverse kinematics of single-unit arm section.The continuous type mechanical arm space collision free trajectory method of the present invention can not only be realized
More piece continuous type mechanical arm tracks the track specified in space, while can effectively avoid the obstacle in complex work space
Object.The method of the present invention is suitable for more piece continuous type mechanical arm system, can be rapid when performing detection, tracking when tasks
To mechanical arm structure parameters, the control of actual robot system is greatly simplified.
In further embodiment, the present invention proposes a kind of Robot dodge strategy, by specific formula to every joint arm section end
The reference point of end position is modified so that new mechanical arm configuration can avoiding obstacles, so as to fulfill simpler reliable
Space obstacle-avoiding route planning.
Description of the drawings
Fig. 1 is the flow diagram of the continuous type mechanical arm space collision free trajectory method of the preferred embodiment of the present invention；
Fig. 2 is the structure diagram of the continuous type mechanical arm of the preferred embodiment of the present invention；
Fig. 3 is the schematic diagram of the continuous type mechanical arm of the preferred embodiment of the present invention；
Fig. 4 is the reference curve using the mechanical arm of mode function generation；
Fig. 5 is the equivalent arm segment length of single-unit arm section and the relation schematic diagram of bending angle；
Fig. 6 is the schematic diagram whether whole arm of detection collides with the arbitrary barrier in space；
Fig. 7 is a certain 5 section continuous type mechanical arm method using the present invention of specific example of the present invention there are single barriers
Hinder the planning process that space circular arc is tracked under the space of object；
Fig. 8 is a certain 5 section continuous type mechanical arm method using the present invention of specific example of the present invention there are multiple barriers
Hinder the planning process that space circular arc is tracked under the space of object.
Specific embodiment
Below against attached drawing and with reference to preferred embodiment, the invention will be further described.
As shown in Figure 1, the preferred embodiment of the present invention discloses a kind of continuous type mechanical arm space collision free trajectory side
Method includes the following steps：
S1：Establish the kinematics model of continuous type mechanical arm.
Such as Fig. 2, in the present embodiment, continuous type mechanical arm is made of driving box 10, driving rope 20 and whole arm 30,
In whole arm 30 be made of single oil cylinder section, per joint arm section can flexural deformation, obtain the continuous type mechanical arm of single oil cylinder section composition
Homogeneous transform matrix be：
Wherein,i-1TiFor the homogeneous coordinate transformation matrix of single-unit arm section, M is arm segment number.
For the single-unit arm section of continuous modification, it is deformed using constant curvature hypothesis etc. and is simplified, is obtainedi-1TiTable
It is as follows up to formula：
Wherein, RiDirection relations between the root and end of ∈ SO (3) description single-unit arm sections,Single-unit is described
Relative position of the end of arm section under the coordinate system of root；qi=[Θi,Φi]TThe structure parameters of i-th joint arm section, Θ are describediFor
Bending angle, ΦiFor bending direction.The structure parameters of all arm sections constitute the configuration space of entire mechanical arm, i.e. q=[q1,
q2,…,qM]T.L is per the length of joint arm section, and N is (if the arm section is by multiple moulds per the number of modules included in joint arm section
What block was connected in series), refering to what is shown in Fig. 3, the T wherein in figure0、T1、……、TM-1、TMIt is the root coordinate system of each joint arm section
Origin.
S2：According to mission requirements, the space tracking of the end tracking of a whole arm is generated.
It is discrete to space tracking progress to take a processing, obtain whole arm end desired locations sequence [Xd1,Xd2,…,
Xdj,…]；The discrete method should be able to meet the requirements such as the precision of terminal position control.The wherein space of arm section end tracking
Track can be obtained according to the methods of C spaces, RRT algorithms, segregation reasons.
S3：With reference to the space tracking that the end of whole arm tracks, the reference that mechanical arm configuration is established using mode function is bent
Line.
According to differential geometry, by the single oil cylinder segment description of the mechanical arm space smooth curve certain for a length such as
Under：
Wherein, l is length of curve, and s ∈ [0,1] are normalized location parameter, and X (s) is that the point at s on curve corresponds to
Space coordinate, u (σ) represents tangent line vector of the curve at s=σ.With reference to figure 4, after u (σ) carries out parametrization expression, formula
(3) it can be further represented as：
α (s) and β (s) is the linear combination of mode function：
Wherein, fi(s) it is mode function, which is selected or designed according to the demand of task.For mode shape coefficients to be solved, calculated using values below alternative manner：
ai=ai-1+ηJ-1(ai-1,1)(Xd-Xi-1) (7)
Wherein, J (ai-1, 1) and for mode shape coefficients matrix, Xi-1For the position of the whole arm end under the (i-1)-th iteration, η is normal
Number, XdFor the whole arm end desired locations sequence [X obtained from step S2d1,Xd2,…,Xdj...] and in a certain element.
S4：According to the characteristics of continuous type flexible arm, chosen in the reference curve obtained in step s3 per joint arm section end
The reference point of position
The equivalent arm segment length for defining single-unit arm section is the root of every joint arm section and the air line distance of end after bending, is joined
Fig. 5 is examined, the equivalent arm segment length of the single-unit arm section under differently curved angle is illustrated, equivalent arm segment length can be dynamically adjusted
Degree so that all reference points are all located on reference curve.
S5：According to the end of joint arm section every in the expression formula (2) and step S4 of the homogeneous coordinate transformation matrix of single-unit arm section
End calculates the structure parameters q per joint arm section with reference to point coordinatesi, it is fitted and obtains the configuration of continuous type mechanical arm.
S6：Whether detection collides per joint arm section with the barrier in environment, in case of colliding, then performs step
S7。
With reference to figure 6, by modes such as visual observations, calculate the whole arm that has been fitted with barrier geometric center C0
Between minimum range, and then may determine that and whether collide therebetween.
S7：If colliding in step S6, record whole arm when colliding under current fitting result and barrier is several
The minimum range d at what centersAnd its direction vectorAnd collision prevention strategy, the configuration reference of adjustment mechanical arm are carried out using following formula (8)
Point, until new mechanical arm configuration can avoid spatial obstacle object, with reference to figure 6, continuous type mechanical arm is from fit1Position adjustment
To fit2Position.
Wherein,It is to correct the obtained reference point of every joint arm section terminal position through the q times, r is represented in barrier geometry
For the heart to the maximum radius on its surface, γ is correction factor, controls modified degree every time.
S8：It is often saved according to revised in the expression formula (2) and step S7 of the homogeneous coordinate transformation matrix of single-unit arm section
The end of arm section calculates the structure parameters q per joint arm section with reference to point coordinates updatei', fitting obtains updated continuous type machinery
The configuration of arm.
Such as Fig. 7, Fig. 8, be using the continuous type mechanical arm space collision free trajectory method of the preferred embodiment of the present invention come
A certain 5 section continuous type mechanical arms are carried out with the example of space avoidance planning；The mechanical arm is there are single obstacles in wherein Fig. 7
The space circular arc track specified is tracked in the working space of object, using the method for the preferred embodiment of the present invention, it is possible to prevente effectively from
The collision of mechanical arm and spatial obstacle object during certain desired locations；The mechanical arm is complicated empty existing for multiple barriers in Fig. 8
Between middle tracking space line track, after the Robot dodge strategy of the preferred embodiment of the present invention, final mechanical arm configuration can
It is effectively prevented from colliding while tracking straight path.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to recognize
The specific implementation of the fixed present invention is confined to these explanations.For those skilled in the art to which the present invention belongs, not
Under the premise of being detached from present inventive concept, several equivalent substitute or obvious modifications can also be made, and performance or use is identical,
Protection scope of the present invention should be all considered as belonging to.
Claims (10)
1. a kind of space collision free trajectory method of continuous type mechanical arm, which is characterized in that include the following steps：
S1：The kinematics model of continuous type mechanical arm is established, wherein the continuous type mechanical arm includes whole arm, the whole arm includes
Single oil cylinder section；
S2：According to mission requirements, the space tracking of the end tracking of whole arm is generated；
S3：With reference to the space tracking that the end of whole arm tracks, the reference that continuous type mechanical arm configuration is established using mode function is bent
Line；
S4：The reference point per joint arm section terminal position is chosen in reference curve in step s3；
S5：With reference to the ginseng of joint arm section terminal position every in the kinematics model of the continuous type mechanical arm in step S1 and step S4
Examination point calculates the structure parameters per joint arm section, and fitting obtains the configuration of continuous type mechanical arm；
S6：Whether detection collides per joint arm section with the barrier in environment, in case of colliding, then performs step S7；
S7：The reference point per joint arm section terminal position is corrected, until new mechanical arm configuration being capable of avoiding obstacles；
S8：With reference to revised per joint arm section end in the kinematics model of the continuous type mechanical arm in step S1 and step S7
The reference point update of position calculates the structure parameters per joint arm section, and fitting obtains the configuration of updated continuous type mechanical arm.
2. the space collision free trajectory method of continuous type mechanical arm according to claim 1, which is characterized in that step S1
It specifically includes：The kinematics model of continuous type mechanical arm is established, obtains the homogeneous change of the continuous type mechanical arm of single oil cylinder section composition
Changing matrix is：
Wherein,i-1TiFor the homogeneous coordinate transformation matrix of single-unit arm section, M is arm segment number；Andi-1TiExpression formula be：
Wherein, RiDirection relations between the root and end of ∈ SO (3) description single-unit arm sections,Single-unit arm section is described
Relative position of the end under the coordinate system of root；qi=[Θi,Φi]TThe structure parameters of i-th joint arm section, Θ are describediFor bending angle
Degree, ΦiFor bending direction, L is per the length of joint arm section, and N is per the number of modules included in joint arm section.
3. the space collision free trajectory method of continuous type mechanical arm according to claim 2, which is characterized in that step S5
Specially：With reference to joint arm section every in the expression formula (2) of the homogeneous coordinate transformation matrix of single-unit arm section in step S1 and step S4
The reference point of terminal position calculates the structure parameters per joint arm section, and fitting obtains the configuration of continuous type mechanical arm.
4. the space collision free trajectory method of continuous type mechanical arm according to claim 2, which is characterized in that step S8
Specially：With reference to revised in the expression formula (2) of the homogeneous coordinate transformation matrix of single-unit arm section in step S1 and step S7
Reference point per joint arm section terminal position calculates the structure parameters per joint arm section, and fitting obtains updated continuous type mechanical arm
Configuration.
5. the space collision free trajectory method of continuous type mechanical arm according to claim 1, which is characterized in that step S2
Further include the space tracking is carried out it is discrete take processing, obtain whole arm end desired locations sequence [Xd1,Xd2,…,
Xdj,…]。
6. the space collision free trajectory method of continuous type mechanical arm according to claim 5, which is characterized in that step S3
It specifically includes：It is that a space smooth curve is by the single oil cylinder segment description of continuous type mechanical arm：
Wherein, l is length of curve, and s ∈ [0,1] are normalized location parameter, and X (s) is the corresponding space of point on curve at s
Coordinate, u (σ) represent tangent line vector of the curve at s=σ.
7. the space collision free trajectory method of continuous type mechanical arm according to claim 6, which is characterized in that wherein when
After u (σ) carries out parametrization expression, formula (3) is expressed as：
α (s) and β (s) is the linear combination of mode function：
Wherein, fi(s) it is mode function,For mode shape coefficients to be solved.
8. the space collision free trajectory method of continuous type mechanical arm according to claim 7, which is characterized in that mode system
Number a is calculated using values below alternative manner：
ai=ai-1+ηJ-1(ai-1,1)(Xd-Xi-1) (7)
Wherein, J (ai-1, 1) and for mode shape coefficients matrix, Xi-1For the position of the whole arm end under the (i-1)-th iteration, η is constant, XdFor
The whole arm end desired locations sequence [X obtained from step S2d1,Xd2,…,Xdj...] and in a certain element.
9. the space collision free trajectory method of continuous type mechanical arm according to claim 1, which is characterized in that step S6
It specifically includes：By the minimum range between the whole arm of digital simulation and barrier geometric center, come judge whole arm whether with barrier
Object is hindered to collide.
10. according to the space collision free trajectory method of claim 1 to 9 any one of them continuous type mechanical arm, feature
It is, step S7 is specifically included：Whole arm when colliding under current fitting result is recorded with barrier geometric center most
Small distance dsAnd its direction vectorAnd the reference point of every joint arm section terminal position is modified using formula (8), until new
Mechanical arm configuration being capable of avoiding obstacles；
Wherein,It is to correct the obtained reference point of every joint arm section terminal position through the q times, r represents barrier geometric center and arrives
The maximum radius on its surface, γ are correction factors.
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| CN109015655A (en) * | 2018-09-06 | 2018-12-18 | 清华大学深圳研究生院 | Snake-shaped robot motion control and end localization method and device, storage medium |
| CN109108978A (en) * | 2018-09-11 | 2019-01-01 | 武汉科技大学 | Three-dimensional space manipulator motion planning method based on study Generalization Mechanism |
| CN109676603A (en) * | 2018-10-12 | 2019-04-26 | 沈阳新松机器人自动化股份有限公司 | A kind of flexibility hyper-redundant robot control method |
| CN110293544A (en) * | 2019-07-29 | 2019-10-01 | 中凯宝智能机器人科技(苏州)有限公司 | The Deformation Prediction method of the snakelike arm of variation rigidity software |
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| CN113666271A (en) * | 2021-07-07 | 2021-11-19 | 中联重科股份有限公司 | Detection method and device for suspension arm, controller and engineering machinery |
| CN113664829A (en) * | 2021-08-17 | 2021-11-19 | 西北工业大学 | Space manipulator obstacle avoidance path planning system and method, computer equipment and storage medium |
| CN114585482A (en) * | 2019-11-27 | 2022-06-03 | 株式会社日立制作所 | Control device, control method, and robot system |
| WO2022120670A1 (en) * | 2020-12-10 | 2022-06-16 | 深圳市优必选科技股份有限公司 | Movement trajectory planning method and apparatus for mechanical arm, and mechanical arm and storage medium |
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