CN108908331B - Obstacle avoidance method and system for super-redundant flexible robot and computer storage medium - Google Patents
Obstacle avoidance method and system for super-redundant flexible robot and computer storage medium Download PDFInfo
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- CN108908331B CN108908331B CN201810767220.5A CN201810767220A CN108908331B CN 108908331 B CN108908331 B CN 108908331B CN 201810767220 A CN201810767220 A CN 201810767220A CN 108908331 B CN108908331 B CN 108908331B
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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
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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
- B25J9/1643—Programme controls characterised by the control loop redundant control
Abstract
The invention discloses an obstacle avoidance method and system of a super-redundant flexible robot and a computer storage medium, wherein obstacles in a space are modeled by a space super-quadric equation and a space geometric model respectively; dividing the space around the obstacle into a safety region, an early warning region and a dangerous region by taking the obstacle as a center, wherein the boundary between the safety region and the early warning region is an early warning boundary represented by a super-quadratic function, and the boundary between the early warning region and the dangerous region is a dangerous boundary represented by a geometric function; detecting whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not in real time, and if so, judging that the super-redundant flexible robot reaches the early warning area; carrying out obstacle avoidance processing on the super-redundant flexible robot; detecting whether the minimum Euclidean distance between the super-redundant flexible robot and a dangerous boundary is larger than zero or not in real time, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle; and finishing obstacle avoidance planning of the ultra-redundant flexible robot.
Description
Technical Field
The invention relates to the field of robot control, in particular to an obstacle avoidance method and system for a super-redundant flexible robot and a computer storage medium.
Background
The actual working environment of the super-redundant robot is often complex, and the requirement for avoiding the environmental obstacles needs to be met while the expected tasks are executed. When the working environment is known or can be detected through a specific means, the mechanical arm with redundant degrees of freedom can avoid additional tasks such as obstacles in the environment while completing the main task.
First, obstacle modeling is one of the key issues of obstacle avoidance planning algorithms. In order to reduce the amount of calculation and improve the obstacle avoidance efficiency, a simple geometric model and a combination thereof are generally adopted to characterize the mechanical arm and the working environment thereof. Colbaugh and the like research the obstacle avoidance planning problem of the four-connecting-rod planar mechanical arm. In this method the planar obstacle and the robot arm are modeled by a circle and a straight line, respectively. The simplified modeling mode meets the requirement of multi-obstacle avoidance planning of the mechanical arm in the time-varying environment. Rahmanian-Shahri et al propose online collision recognition methods. The method models each link of the redundant robot and each obstacle in the workspace by an ellipse in a plane. Spheres, ellipsoids, convex polyhedrons and cylinders are commonly used as geometric units for modeling in three-dimensional working spaces. Bonner et al propose a continuous spherical approximation to represent spatial objects, which facilitates collision-free path planning. Choi et al modeled the obstacle and the mechanical arm using a sphere and an ellipsoid, respectively. Wang et al also model objects in the workspace as ellipsoids to simplify the mathematical representation and reduce the computational complexity of collision detection. For some objects (e.g., cylindrical arms) the cylindrical model is a more suitable representation, so Patel et al propose a method of distance calculation and collision detection using dual vector and angle expressions. Saramago and the like propose a method for planning an offline optimal track by adding a penalty function aiming at the obstacle avoidance problem of a moving obstacle. Perderiu et al propose a method of representing obstacles using a super-quadratic surface function. The method processes the collision avoidance problem by solving a geometric model through inverse iteration. Mu and the like establish a mathematical model of the space obstacle by adopting a super-quadric surface equation, provide criteria for obstacle avoidance planning of the redundant mechanical arm, and realize the obstacle avoidance planning of the redundant mechanical arm on multiple obstacles in a three-dimensional environment.
Scholars at home and abroad also develop certain related researches in the aspect of obstacle avoidance planning. Glass and the like provide a real-time obstacle avoidance planning method aiming at the characteristics of the redundant mechanical arm. According to the method, the configuration control of the mechanical arm is realized by using a damping least square method on the inverse kinematics level. The Yoshida and other two-stage planning methods based on iteration provide an obstacle avoidance planning method of a mechanical arm in a complex three-dimensional environment. Chi et al represent the links and obstacles of the robot arm with polyhedrons described by vertices. Distance information between the obstacle polyhedron and the mechanical arm polyhedron is obtained in a minimum distance algorithm, and three methods (a gradient projection method, a force obstacle avoidance method and a speed obstacle avoidance method) are provided based on the distance information to realize the obstacle avoidance function. Freund et al propose a method for planning multi-robot obstacle avoidance movements in an on-line multi-obstacle environment. The obstacle avoidance optimization problem is converted into a secondary convex optimization problem, and a mathematical expression mode is provided for obstacle avoidance. In order to avoid the obstacle, the method adopts an acceleration solving mode which can directly control the joint motion, and can consider potential collision danger at the same time; the method has certain universality because of the model-based planning method. This method has been applied to multi-robot laboratories. The method can simply and effectively process the obstacle avoidance problem by calculating the modes of a null space, a surrounding geometric body, a distance vector and the like. Homayoun et al propose a real-time obstacle avoidance method. The method formulates the obstacle avoidance problem as a force-position hybrid control problem. And the degree of the proximity of the obstacle to the mechanical arm is represented by the magnitude of the virtual force in the established spring damping model. Guo et al propose an inequality-based obstacle avoidance criterion, which achieves obstacle avoidance by controlling joint acceleration under conditions that satisfy the inequality criterion. By combining the dynamically updated inequality standard and joint physical constraints (namely joint angle limitation, joint speed limitation and joint acceleration limitation), a minimum acceleration norm solution scheme is provided, and the research of redundancy solution is carried out. Tsoukalas et al introduce van der waals forces into a traditional dynamic micro-robotic arm model. Wherein each link of the robotic arm is broken down into a series of elementary particles that interact with adjacent objects during the motion. The approximate position of the obstacle is derived through Van der Waals force, and then a collision-free path is obtained through judging the magnitude of the Van der Waals force, so that the obstacle can be effectively avoided. Hu et al developed a so-called inverse quadratic search algorithm to solve the inverse kinematics solution problem in obstacle avoidance. The inverse quadratic search algorithm detects potential collisions based on the properties of the quadratic root. The class of quadratic function is derived from the location of the obstacle enclosed by the ellipse and the end point of each link. The algorithm searches backward from the end effector to the base for possible collision locations with the obstacle and avoids the obstacle in the environment by using a hybrid inverse kinematics approach (including damped least squares, weighted minimum norms and gradient projection approaches).
In previous studies, the problem of spatial obstacle modeling has been studied to some extent. However, there are few methods that consider both obstacle avoidance efficiency and obstacle avoidance accuracy in these three-dimensional space obstacle modeling and avoidance studies. When the obstacle avoidance efficiency is a key concern in the modeling process, a simple geometric model envelope or a qualitative distance (such as a pseudo distance of a super-quadric equation) is generally adopted. This will reduce the accuracy of the detection of potential collisions and the safe working space is greatly reduced. On the contrary, if a relatively accurate model is adopted, the calculation amount is always large in the obstacle avoidance process, and more computer calculation resources and storage resources of equipment are occupied.
In addition, the existing obstacle avoidance planning method mainly aims at a 6-degree-of-freedom mechanical arm, a 7-degree-of-freedom mechanical arm or a planar redundant mechanical arm, few researches are made on the obstacle avoidance planning method of the super-redundant robot in the three-dimensional space, and the requirement of the super-redundant robot on obstacle avoidance planning in the three-dimensional space cannot be met. In order to solve the problem of planning the obstacle avoidance track of the super-redundant robot in the multi-obstacle space, the technology needs to be improved.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide an obstacle avoidance method and system of an ultra-redundant flexible robot and a computer storage medium, which are used for realizing obstacle avoidance processing of the ultra-redundant flexible robot.
The technical scheme adopted by the invention is as follows: an obstacle avoidance method of a super-redundant flexible robot comprises the following steps:
respectively modeling obstacles in the space by using a space super-quadric surface equation and a space geometric model;
dividing the space around the obstacle into a safety region, an early warning region and a dangerous region by taking the obstacle as the center based on the established model, wherein the boundary between the safety region and the early warning region is an early warning boundary represented by a super-quadratic function, and the boundary between the early warning region and the dangerous region is a dangerous boundary represented by a geometric function;
detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time;
judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if so, judging that the super-redundant flexible robot reaches an early warning area;
carrying out obstacle avoidance processing on the super-redundant flexible robot;
detecting the Euclidean distance between the super-redundant flexible robot and the dangerous boundary in real time;
and judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle.
And further, judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero, if not, judging that the super-redundant flexible robot fails to avoid the obstacle, and controlling the super-redundant flexible robot to stop moving.
Further, the minimum euclidean distance between the ultra-redundant flexible robot and the dangerous boundary is the minimum length of the dangerous boundary and a common perpendicular line of mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from a point on the dangerous boundary to the mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from an end point of the mechanical arms of the ultra-redundant flexible robot to the dangerous boundary.
And further, judging whether the pseudo distance between the super-redundant flexible robot and the early warning boundary is greater than zero, if so, judging that the super-redundant flexible robot is located in the safe area, and planning the motion of the mechanical arm of the super-redundant flexible robot according to an energy optimization principle.
Further, the obstacle avoidance processing of the super-redundant flexible robot is realized by adjusting obstacle avoidance parameters of an improved mode function method.
Further, the obstacle avoidance parameters include arm angle parameters and/or equivalent arm length.
The other technical scheme adopted by the invention is as follows: an obstacle avoidance system of a super-redundant flexible robot comprises
The modeling unit is used for respectively modeling the obstacles in the space by using a space super-quadric surface equation and a space geometric model;
the area dividing unit is used for dividing the space around the obstacle into a safety area, an early warning area and a dangerous area by taking the obstacle as the center based on the established model, wherein the boundary between the safety area and the early warning area is an early warning boundary represented by a superquadratic function, and the boundary between the early warning area and the dangerous area is a dangerous boundary represented by a geometric function;
the distance detection unit is used for detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time;
the obstacle avoidance requirement detection unit is used for judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if the judgment result is yes, judging that the super-redundant flexible robot reaches an early warning area;
the obstacle avoidance unit is used for carrying out obstacle avoidance processing on the super-redundant flexible robot;
the obstacle avoidance result judging unit is used for detecting the Euclidean distance between the super-redundant flexible robot and the dangerous boundary in real time; and judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle.
Further, the minimum euclidean distance between the ultra-redundant flexible robot and the dangerous boundary is the minimum length of the dangerous boundary and a common perpendicular line of mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from a point on the dangerous boundary to the mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from an end point of the mechanical arms of the ultra-redundant flexible robot to the dangerous boundary.
Further, the obstacle avoidance processing of the super-redundant flexible robot is realized by adjusting obstacle avoidance parameters of an improved mode function method.
The other technical scheme adopted by the invention is as follows: a computer storage medium having a computer program stored thereon, which when executed by a processor, performs the steps of:
respectively modeling obstacles in the space by using a space super-quadric surface equation and a space geometric model;
dividing the space around the obstacle into a safety region, an early warning region and a dangerous region by taking the obstacle as the center based on the established model, wherein the boundary between the safety region and the early warning region is an early warning boundary represented by a super-quadratic function, and the boundary between the early warning region and the dangerous region is a dangerous boundary represented by a geometric function;
detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time;
judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if so, judging that the super-redundant flexible robot reaches an early warning area;
carrying out obstacle avoidance processing on the super-redundant flexible robot;
detecting the Euclidean distance between the super-redundant flexible robot and the dangerous boundary in real time;
and judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle.
The invention has the beneficial effects that:
the invention relates to an obstacle avoidance method and system of a super-redundant flexible robot and a computer storage medium, wherein obstacles in a space are modeled by a space super-quadric equation and a space geometric model respectively; based on the established model, taking the obstacle as a center, dividing the space around the obstacle into a safe region, an early warning region and a dangerous region, wherein the boundary between the safe region and the early warning region is an early warning boundary represented by a super-quadratic function, and the boundary between the early warning region and the dangerous region is a dangerous boundary represented by a geometric function; detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time; judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if so, judging that the super-redundant flexible robot reaches the early warning area; carrying out obstacle avoidance processing on the super-redundant flexible robot; detecting the Euclidean distance between the super-redundant flexible robot and a dangerous boundary in real time; judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle; and a mixed obstacle model is established, so that the obstacle avoidance requirement detection, the obstacle avoidance processing and the obstacle avoidance result detection of the super-redundant flexible robot are realized, and the obstacle avoidance planning of the super-redundant flexible robot is completed.
Drawings
The following further describes embodiments of the present invention with reference to the accompanying drawings:
fig. 1a and fig. 1b are schematic diagrams of a modeling method of an obstacle avoidance method of an ultra-redundant flexible robot in the invention;
FIG. 2 is a schematic diagram illustrating a relative relationship between a spatial point and a super-quadric surface model in an obstacle avoidance method of a super-redundant flexible robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a hybrid model of an obstacle avoidance method for an ultra-redundant flexible robot according to an embodiment of the present invention;
fig. 4a, fig. 4b and fig. 4c are schematic diagrams illustrating a position relationship between the super-redundant flexible robot and a geometric model according to an embodiment of the obstacle avoidance method for the super-redundant flexible robot in the present invention;
FIG. 5 is a schematic diagram of an embodiment of adjusting the length of an equivalent arm to achieve obstacle avoidance in an obstacle avoidance method of a super-redundant flexible robot according to the present invention;
fig. 6 is a schematic diagram of a specific embodiment of adjusting the size of an arm angle to achieve obstacle avoidance in the obstacle avoidance method of the super-redundant flexible robot.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Aiming at typical obstacle modeling and avoiding problems of the super-redundant flexible robot in a working environment, a modeling and obstacle avoiding strategy based on a mixed obstacle model is provided, and an obstacle avoiding method of the super-redundant flexible robot is provided, and comprises the following steps:
respectively modeling obstacles in the space by using a space super-quadric surface equation and a space geometric model;
referring to fig. 1a and 1b, fig. 1a and 1b are schematic diagrams of a modeling method of an obstacle avoidance method of an ultra-redundant flexible robot in the invention; based on the established model, taking the obstacle as a center, dividing the space around the obstacle into a safe region, an early warning region and a dangerous region, wherein the boundary between the safe region and the early warning region is an early warning boundary represented by a super-quadratic function, and the super-quadratic function can express the shape of any obstacle; the boundary between the early warning area and the dangerous area is a dangerous boundary represented by a geometric function;
referring to fig. 1a, detecting a pseudo distance between an ultra-redundant flexible robot, namely a mechanical arm of the ultra-redundant flexible robot, and an early warning boundary in real time; judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero, and if so, judging that the super-redundant flexible robot reaches or crosses the early warning boundary and is located in the early warning area;
starting to carry out obstacle avoidance processing on the super-redundant flexible robot;
referring to fig. 1b, when the super-redundant flexible robot reaches the early warning area, the euclidean distance between the super-redundant flexible robot and the dangerous boundary starts to be detected in real time; and judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle.
According to the method, the mixed obstacle model is established, the obstacle avoidance requirement detection of the super-redundant flexible robot is realized by calculating the pseudo distance between the robot and the early warning boundary, the obstacle avoidance processing is carried out when the super-redundant flexible robot reaches the early warning area, the obstacle avoidance result is judged by calculating the distance between the robot and the dangerous boundary, and the obstacle avoidance planning of the super-redundant flexible robot is completed. In addition, whether the minimum Euclidean distance between the super-redundant flexible robot and a dangerous boundary is larger than zero or not is judged, if the judgment result is negative, failure in obstacle avoidance of the super-redundant flexible robot is judged, at the moment, the fact that the robot reaches a dangerous area is indicated, the super-redundant flexible robot needs to be controlled to stop moving, and manual intervention is carried out. And judging whether the pseudo distance between the super-redundant flexible robot and the early warning boundary is larger than zero, if so, judging that the super-redundant flexible robot is located in a safe region, and planning the motion of the mechanical arm of the super-redundant flexible robot according to an energy optimization principle, wherein the energy optimization principle is to ensure that the motion variation of the mechanical arm is minimum so as to save the energy loss of the mechanical arm.
Referring to fig. 1a and 1b, a geometric model and a super-quadric surface model are used for modeling an obstacle so as to divide the space where the obstacle is located, and referring to fig. 2, fig. 2 is a schematic diagram of a relative relationship between a space point and a super-quadric surface model in an obstacle avoidance method of a super-redundant flexible robot according to a specific embodiment of the present invention; the space points can be divided into three types in the super-quadric surface model: inside, on and outside the curved surface. In fact, the danger boundary obtained by simulating the obstacle with the actual geometric model is the actual body of the obstacle plus a certain safety threshold. Referring to fig. 3, fig. 3 is a schematic diagram of a hybrid model of an obstacle avoidance method for an ultra-redundant flexible robot according to an embodiment of the present invention; the space truss is a narrow space formed by rod pieces, the ultra-redundant flexible robot needs to pass through the narrow space in the space truss to carry out operation tasks, in the embodiment, the space station truss is taken as an example, mixed models of the space station truss are respectively established, and in the figure 3, an outer layer early warning boundary is established by an ultra-quadric surface model to provide a pseudo-distance criterion for obstacle avoidance; and the dangerous boundary of the inner layer is established by adopting a space geometric model, and the Euclidean distance criterion during obstacle avoidance is provided. Based on the analysis of the hyper-quadric surface model and the spatial geometry model, it can be seen that: firstly, the super quadric surface model is suitable for carrying out macroscopic envelope on an obstacle and providing qualitative obstacle avoidance planning criterion, namely a pseudo distance, and the pseudo distance is calculated in a mode that point coordinates needing to be judged are directly substituted into a unified super quadric surface equation, so that the calculated amount of the pseudo distance is far lower than that of an Euclidean distance. Secondly, the space geometric model is suitable for carrying out fine envelope on the obstacles and providing a quantitative obstacle avoidance planning criterion, namely Euclidean distance.
As a further improvement of the technical solution, referring to fig. 4a, 4b and 4c, fig. 4a, 4b and 4c are schematic diagrams of a position relationship between the super-redundant flexible robot and the geometric model according to an embodiment of the obstacle avoidance method for the super-redundant flexible robot in the present invention; the minimum distance of the arm lever of the mechanical arm of the ultra-redundant flexible robot to the dangerous boundary usually occurs in one of the following three places: (1) the minimum length of the danger boundary and a common perpendicular line of the mechanical arms of the ultra-redundant flexible robot, (2) the minimum vertical distance from a point on the danger boundary to the mechanical arms of the ultra-redundant flexible robot, and (3) the minimum vertical distance from the end points of the mechanical arms of the ultra-redundant flexible robot to the danger boundary. The calculation process of the minimum distance from the arm lever of the mechanical arm of the ultra-redundant flexible robot to the dangerous boundary is specifically analyzed as follows:
referring to fig. 4a, 4b and 4c, in the present embodiment, the danger boundary is described by taking a cylindrical model (such as a cylinder in fig. 4a, 4b and 4 c) as an example, the coordinate positions of the base and each joint point (i.e. gimbal) of the robot are converted into a cylindrical model coordinate system, and the joint point P on the robot arm is represented by a coordinate system of the cylindrical modeliCoordinates in the cylindrical model coordinate system { OcyIn the formula (1):
in figures 4a, 4b and 4c,
is the coordinates of the body center of the cylinder,
is the center coordinate of the upper top surface (up) of the cylinder,
is the center coordinate of the lower bottom surface (below) of the cylinder.
(1) Minimum length of danger boundary and common perpendicular line of mechanical arm of ultra-redundant flexible robot
Referring to fig. 4a, the danger boundary and two legs of the common perpendicular line of the robot arm of the ultra-redundant flexible robot are respectively inside the arm rod and the cylinder of the robot arm, wherein the geometric equation of the cylinder is formula (2).
In { OcyXcYcZcO in the coordinate systembOuThe equation of the straight line is shown in equation (3):
the direction vector is
Wherein r is0Is the radius of the mechanical arm, R is the radius of the cylinder, and 2H is the height of the cylinder.
From the geometric properties of the drop foot:
further, the method can be obtained as follows:
by
Respectively belong to
Therefore, the following steps are carried out:
the simultaneous equations can be found:
the minimum distance is then:
(2) minimum vertical distance from point on danger boundary to mechanical arm of ultra-redundant flexible robot
Referring to fig. 4b, one of the feet of the perpendicular from the point on the danger boundary to the robot arm of the ultra-redundant flexible robot is inside the arm shaft, the other foot of the perpendicular is outside the cylinder, when the foot on the arm shaft is on the current arm shaft and when the foot of the cylinder is outside the cylinder, the minimum distance from the arm shaft to the danger boundary, i.e. the cylinder, is no longer the common perpendicular
Length of (d). Three points P in space1P2OcyA plane is formed in the space, and the plane intersects with the top surface of the cylinder at a Cr point (Cross) along the direction of the Cr point
As a perpendicular line, hang down on feet
Then will be
Is defined as P1P2I.e. the minimum distance of the arm to the danger boundary.
The solution point is set to Cr (x)Cr,yCr,zCr)、
The minimum distance of the arm to the danger boundary under such conditions is then
(3) Minimum vertical distance from mechanical arm end point of ultra-redundant flexible robot to dangerous boundary
Referring to fig. 4c, one foot of the perpendicular line from the mechanical arm endpoint of the ultra-redundant flexible robot to the danger boundary is outside the arm rod, and the other foot is inside the cylinder; when the foot of the column is on the column and the foot of the arm falls outside the arm, the arm and the dangerous edgeThe minimum distance of the boundary is no longer the common perpendicular
Becomes the end point P1Or P2Distance from cylinder, e.g.
Then, at this time, the minimum distance from the arm to the danger boundary is
Whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not is calculated to judge whether the super-redundant flexible robot successfully avoids the obstacle or not, and the required calculated amount is reduced and the judgment efficiency is improved by calculating the three possible situations of the minimum distance.
As a further improvement of the technical scheme, the obstacle avoidance processing of the super-redundant flexible robot can be realized by adjusting the obstacle avoidance parameters of the improved mode function method. The motion of the mechanical arm can be controlled by using an improved mode function method, and the thesis information about the improved mode function method is as follows: acta Astronacaceutical-2017-A modified model method for dissolving the mission-oriented inverse mechanics of high-reduced space mechanics for on-orbit servicing; or refer to the description in the published patent application "super-redundant robotic arm hybrid inverse solution method and system based on mode functions". The obstacle avoidance parameters comprise arm type angle parameters and/or equivalent arm rod length.
Referring to fig. 5, fig. 5 is a schematic diagram of a specific embodiment of adjusting the length of an equivalent arm to achieve obstacle avoidance in the obstacle avoidance method of the super-redundant flexible robot according to the present invention; using modified mode function methods they are all based on equivalent arm parameters
And (4) adjusting. The following parameters are defined:
gimbal position based on equivalent boom length; fiThe foot is the shortest distance vertical line;
is a foot depending on the perpendicular of the parameter of the equivalent arm lever.
The equivalent arm is independent, and the actual link is shown as
The equivalent connecting rod is represented as
The reference surface is shown as
To avoid the danger boundary in space requires an iterative search for the optimal equivalent arm parameter values. By optimizing the parameters of the equivalent arm levers, the super-redundant flexible robot can avoid space obstacles in the movement process of the early warning area.
Referring to fig. 6, fig. 6 is a schematic view of a specific embodiment of adjusting the size of an arm angle to achieve obstacle avoidance in the obstacle avoidance method of the super-redundant flexible robot according to the present invention. When the equivalent arm lever parameter of the ith joint group is determined, the arm type angle
Becomes the controllable variable for adjusting the even numbered gimbals. The following parameters are defined:
based on the arm angle psiiThe foot of the vertical line is hung on the foot,
based on the arm angle psiiOf a universal joint, Δ U2i-1U2i+1U2NIs an arm type angle psiiThe reference plane of (1).
When the super redundancy is flexibleThe arm type angle ψ ═ 0, pi) of the robot (when ψ ═ pi, 2 pi), the ultra-redundant flexible robot structurally forms the other half of the symmetrical configuration), a series of corresponding configurations can be required, but not every configuration can satisfy the requirements of the robot arm. Since each mechanical arm has a motion limit after the design is completed, when the solution of a certain joint exceeds the motion limit, the current joint configuration cannot be realized. Therefore, the arm angle with the joint angle satisfying the motion limit requirement needs to be selected as a solving parameter. By adjusting and optimizing the arm angle psiiThe minimum distance between the dangerous boundary and the mechanical arm meets the obstacle avoidance requirement, namely the minimum distance is larger than zero.
Further, in order to ensure safe operation of the mechanical arm, the objective function for judging collision is obtained in a prediction mode, and based on the predicted obstacle avoidance plan, data at the time of t +1 are always used for calculation to judge whether collision exists or not and whether the collision can be avoided. The selectable obstacle avoidance mode is as follows:
obstacle avoidance mode 1: adjusting arm type angle psiiThe obstacle is avoided in a mode of self-movement of the arm rod;
obstacle avoidance mode 2: adjusting equivalent lever rhoiLength, moving the obstacle avoidance along the ridge line through the joint nodes;
obstacle avoidance mode 3: by co-operating arm angles psiiAnd equivalent arm ρiAvoiding an obstacle;
obstacle avoidance mode 4: co-operating with obstacle avoidance parameters of the proximity group (i.e.. psi)i,ρi,ψi+1,ρi+1) Avoiding an obstacle; namely, simultaneously adjusting the parameters of the adjacent mechanical arms to realize obstacle avoidance;
obstacle avoidance mode 5: determining a basic unit capable of realizing obstacle avoidance according to requirements; namely, the obstacle avoidance is realized by adjusting a plurality of obstacle avoidance parameters such as arm type angles, equivalent arm rod lengths and the like.
Based on the method, the invention also provides an obstacle avoidance system of the super-redundant flexible robot, which comprises
The modeling unit is used for respectively modeling the obstacles in the space by using a space super-quadric surface equation and a space geometric model;
the area dividing unit is used for dividing the space around the barrier into a safety area, an early warning area and a dangerous area by taking the barrier as the center based on the established model, wherein the boundary between the safety area and the early warning area is an early warning boundary represented by a super-quadratic function, and the boundary between the early warning area and the dangerous area is a dangerous boundary represented by a geometric function;
the distance detection unit is used for detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time;
the obstacle avoidance requirement detection unit is used for judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if the judgment result is yes, judging that the super-redundant flexible robot enters the early warning area;
the obstacle avoidance unit is used for carrying out obstacle avoidance processing on the super-redundant flexible robot;
the obstacle avoidance result judging unit is used for detecting the Euclidean distance between the super-redundant flexible robot and the dangerous boundary in real time; and judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle.
The minimum Euclidean distance between the ultra-redundant flexible robot and the dangerous boundary is the minimum length of the dangerous boundary and a common perpendicular line of mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from a point on the dangerous boundary to the mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from the end points of the mechanical arms of the ultra-redundant flexible robot to the dangerous boundary. And the obstacle avoidance processing of the super-redundant flexible robot is realized by adjusting the obstacle avoidance parameters of the improved mode function method. The specific working process description of the obstacle avoidance system of the super-redundant flexible robot refers to the description of the obstacle avoidance method of the super-redundant flexible robot, and is not repeated herein.
In addition, the present invention also provides a computer storage medium having a computer program stored thereon, the program, when executed by a processor, implementing the steps of:
respectively modeling obstacles in the space by using a space super-quadric surface equation and a space geometric model;
based on the established model, taking the obstacle as a center, dividing the space around the obstacle into a safe region, an early warning region and a dangerous region, wherein the boundary between the safe region and the early warning region is an early warning boundary represented by a super-quadratic function, and the boundary between the early warning region and the dangerous region is a dangerous boundary represented by a geometric function;
detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time; judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if so, judging that the super-redundant flexible robot enters an early warning area;
carrying out obstacle avoidance processing on the super-redundant flexible robot;
detecting the Euclidean distance between the super-redundant flexible robot and a dangerous boundary in real time; and judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle.
The working process of the computer program stored on the computer storage medium may refer to the above detailed description of the obstacle avoidance method for the super-redundant flexible robot, and is not described again.
The invention provides a method and a system for planning obstacle avoidance tracks of an ultra-redundant flexible robot based on environment obstacle hybrid modeling, which are used for establishing a modeling and obstacle avoidance strategy based on a hybrid obstacle model aiming at typical obstacle modeling and obstacle avoidance problems in the working environment of the ultra-redundant flexible robot and realizing obstacle avoidance by adopting an improved mode function method. Based on a mixed obstacle modeling method, the robot plans the movement of the mechanical arm in a safe area according to the energy optimization principle. When the robot is in a safe area, the relative relation between the mechanical arm and the obstacle can be qualitatively judged through the pseudo distance obtained by the super quadric surface equation. After the robot enters the early warning area, the Euclidean distance between the mechanical arm and the dangerous boundary and the specific minimum distance point coordinate can be accurately calculated. The operation task of the super-redundant flexible robot in the obstacle environment can be realized by adjusting obstacle avoidance parameters (arm angle parameters, equivalent arm rod length and the like) of an improved mode function method; meanwhile, the method is suitable for various super-redundant configurations except for the super-redundant flexible robot.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. An obstacle avoidance method of a super-redundant flexible robot is characterized by comprising the following steps:
respectively modeling obstacles in the space by using a space super-quadric surface equation and a space geometric model;
dividing the space around the obstacle into a safety region, an early warning region and a dangerous region by taking the obstacle as the center based on the established model, wherein the boundary between the safety region and the early warning region is an early warning boundary represented by a super-quadratic function, and the boundary between the early warning region and the dangerous region is a dangerous boundary represented by a geometric function;
detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time;
judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if so, judging that the super-redundant flexible robot reaches an early warning area;
the obstacle avoidance processing of the super-redundant flexible robot is realized by adjusting obstacle avoidance parameters of an improved mode function method, wherein the obstacle avoidance parameters comprise arm type angle parameters and equivalent arm rod length;
detecting the Euclidean distance between the super-redundant flexible robot and the dangerous boundary in real time;
judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle;
wherein the minimum Euclidean distance between the ultra-redundant flexible robot and the dangerous boundary is the minimum length of the dangerous boundary and a common perpendicular line of mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from a point on the dangerous boundary to the mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from the end points of the mechanical arms of the ultra-redundant flexible robot to the dangerous boundary;
the obstacle avoidance processing mode is as follows:
obstacle avoidance mode 1: adjusting arm type angle psiiThe obstacle is avoided in a mode of self-movement of the arm rod;
obstacle avoidance mode 2: adjusting equivalent lever rhoiLength, moving the obstacle avoidance along the ridge line through the joint nodes;
obstacle avoidance mode 3: by co-operating arm angles psiiAnd equivalent arm ρiAvoiding an obstacle;
obstacle avoidance mode 4: co-operating with obstacle avoidance parameters of the adjacent group, i.e. psii,ρi,ψi+1,ρi+1Avoiding an obstacle; namely, simultaneously adjusting the parameters of the adjacent mechanical arms to realize obstacle avoidance;
obstacle avoidance mode 5: determining a basic unit capable of realizing obstacle avoidance according to requirements; namely, obstacle avoidance is realized by adjusting the arm type angle and the length of the equivalent arm rod;
wherein psii+1And psii+1Is the angle of the arm, ρiIs the distance rho between two adjacent odd numbered universal joints of the super-redundant flexible roboti+1And the distance between the next group of two adjacent odd numbered universal joints of the super-redundant flexible robot is obtained.
2. The obstacle avoidance method of the ultra-redundant flexible robot according to claim 1,
and judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero, if not, judging that the super-redundant flexible robot fails to avoid the obstacle, and controlling the super-redundant flexible robot to stop moving.
3. The obstacle avoidance method of the super-redundant flexible robot according to any one of claims 1 to 2, wherein it is determined whether a pseudo distance between the super-redundant flexible robot and the early warning boundary is greater than zero, and if so, it is determined that the super-redundant flexible robot is located in the safe area, and the motion of a mechanical arm of the super-redundant flexible robot is planned according to an energy optimization principle.
4. An obstacle avoidance system of a super-redundant flexible robot is characterized by comprising
The modeling unit is used for respectively modeling the obstacles in the space by using a space super-quadric surface equation and a space geometric model;
the area dividing unit is used for dividing the space around the obstacle into a safety area, an early warning area and a dangerous area by taking the obstacle as the center based on the established model, wherein the boundary between the safety area and the early warning area is an early warning boundary represented by a superquadratic function, and the boundary between the early warning area and the dangerous area is a dangerous boundary represented by a geometric function;
the distance detection unit is used for detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time;
the obstacle avoidance requirement detection unit is used for judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if the judgment result is yes, judging that the super-redundant flexible robot reaches an early warning area;
the obstacle avoidance unit is used for realizing obstacle avoidance processing of the super-redundant flexible robot by adjusting obstacle avoidance parameters of an improved mode function method, wherein the obstacle avoidance parameters comprise arm type angle parameters and equivalent arm rod length;
the obstacle avoidance result judging unit is used for detecting the Euclidean distance between the super-redundant flexible robot and the dangerous boundary in real time; judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle;
wherein the minimum Euclidean distance between the ultra-redundant flexible robot and the dangerous boundary is the minimum length of the dangerous boundary and a common perpendicular line of mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from a point on the dangerous boundary to the mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from the end points of the mechanical arms of the ultra-redundant flexible robot to the dangerous boundary;
the obstacle avoidance processing mode is as follows:
obstacle avoidance mode 1: adjusting arm type angle psiiThe obstacle is avoided in a mode of self-movement of the arm rod;
obstacle avoidance mode 2: adjusting equivalent lever rhoiLength, moving the obstacle avoidance along the ridge line through the joint nodes;
obstacle avoidance mode 3: by co-operating arm angles psiiAnd equivalent arm ρiAvoiding an obstacle;
obstacle avoidance mode 4: co-operating with obstacle avoidance parameters of the adjacent group, i.e. psii,ρi,ψi+1,ρi+1Avoiding an obstacle; namely, simultaneously adjusting the parameters of the adjacent mechanical arms to realize obstacle avoidance;
obstacle avoidance mode 5: determining a basic unit capable of realizing obstacle avoidance according to requirements; namely, obstacle avoidance is realized by adjusting the arm type angle and the length of the equivalent arm rod;
wherein psii+1And psii+1Is the angle of the arm, ρiIs the distance rho between two adjacent odd numbered universal joints of the super-redundant flexible roboti+1And the distance between the next group of two adjacent odd numbered universal joints of the super-redundant flexible robot is obtained.
5. A computer storage medium, having stored thereon a computer program which, when executed by a processor, performs the steps of:
respectively modeling obstacles in the space by using a space super-quadric surface equation and a space geometric model;
dividing the space around the obstacle into a safety region, an early warning region and a dangerous region by taking the obstacle as the center based on the established model, wherein the boundary between the safety region and the early warning region is an early warning boundary represented by a super-quadratic function, and the boundary between the early warning region and the dangerous region is a dangerous boundary represented by a geometric function;
detecting the pseudo distance between the super-redundant flexible robot and the early warning boundary in real time;
judging whether the minimum pseudo distance between the super-redundant flexible robot and the early warning boundary is smaller than or equal to zero or not, and if so, judging that the super-redundant flexible robot reaches an early warning area;
the obstacle avoidance processing of the super-redundant flexible robot is realized by adjusting obstacle avoidance parameters of an improved mode function method, wherein the obstacle avoidance parameters comprise arm type angle parameters and equivalent arm rod length;
detecting the Euclidean distance between the super-redundant flexible robot and the dangerous boundary in real time;
judging whether the minimum Euclidean distance between the super-redundant flexible robot and the dangerous boundary is larger than zero or not, and if so, judging that the super-redundant flexible robot successfully avoids the obstacle;
wherein the minimum Euclidean distance between the ultra-redundant flexible robot and the dangerous boundary is the minimum length of the dangerous boundary and a common perpendicular line of mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from a point on the dangerous boundary to the mechanical arms of the ultra-redundant flexible robot, or the minimum perpendicular distance from the end points of the mechanical arms of the ultra-redundant flexible robot to the dangerous boundary;
the obstacle avoidance processing mode is as follows:
obstacle avoidance mode 1: adjusting arm type angle psiiThe obstacle is avoided in a mode of self-movement of the arm rod;
obstacle avoidance mode 2: adjusting equivalent lever rhoiLength, moving the obstacle avoidance along the ridge line through the joint nodes;
obstacle avoidance mode 3: by co-operating arm angles psiiAnd equivalent arm ρiAvoiding an obstacle;
obstacle avoidance mode 4: co-operating with obstacle avoidance parameters of the adjacent group, i.e. psii,ρi,ψi+1,ρi+1Avoiding an obstacle; namely, simultaneously adjusting the parameters of the adjacent mechanical arms to realize obstacle avoidance;
obstacle avoidance mode 5: determining a basic unit capable of realizing obstacle avoidance according to requirements; namely, obstacle avoidance is realized by adjusting the arm type angle and the length of the equivalent arm rod;
wherein psii+1And psii+1Is the angle of the arm, ρiIs the distance rho between two adjacent odd numbered universal joints of the super-redundant flexible roboti+1And the distance between the next group of two adjacent odd numbered universal joints of the super-redundant flexible robot is obtained.
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