CN109732609A - A kind of redundant degree of freedom manipulator motion planning method and device - Google Patents

A kind of redundant degree of freedom manipulator motion planning method and device Download PDF

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Publication number
CN109732609A
CN109732609A CN201910135283.3A CN201910135283A CN109732609A CN 109732609 A CN109732609 A CN 109732609A CN 201910135283 A CN201910135283 A CN 201910135283A CN 109732609 A CN109732609 A CN 109732609A
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China
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joint
freedom
redundant degree
mechanical arm
degree
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董帅
邹昆
李文生
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University of Electronic Science and Technology of China Zhongshan Institute
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University of Electronic Science and Technology of China Zhongshan Institute
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Abstract

The embodiment of the present application provides a kind of redundant degree of freedom manipulator motion planning method and device, and redundant degree of freedom manipulator motion planning method includes: to obtain pose data corresponding with the expected pose of end effector of the redundant degree of freedom mechanical arm;Dimension-reduction treatment is carried out to the 7 degree of freedom optimization problem in the redundant degree of freedom manipulator motion planning according to preset constraint condition, obtains two dimensional optimization problem;The two dimensional optimization problem is solved, solving result is obtained;According to the pose data and the solving result, the control program of the redundant degree of freedom mechanical arm is obtained.The application redundant degree of freedom manipulator motion planning method and device, dimension-reduction treatment can be carried out to the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning, it reduces and calculates the time, reduce difficulty in computation, so as to more rapidly, more easily obtain the control program of redundant degree of freedom mechanical arm, motion planning is completed, the total time of motion planning is reduced, improves planning efficiency.

Description

A kind of redundant degree of freedom manipulator motion planning method and device
Technical field
This application involves field of intelligent control technology, in particular to a kind of redundant degree of freedom manipulator motion planning Method and device.
Background technique
Redundant degree of freedom mechanical arm compares six connecting rods with 7 degree of freedom with the mechanical arm of seven connecting rods Mechanical arm, additional connecting rod allows mechanical arm to hide certain specific targets, reaches specific position convenient for end effector, More flexible it can adapt to certain particular job environment.
Motion planning (Motion Planning) is exactly to find one between given position A and position B for robot Meet the path of constraint condition, this constraint can be collisionless, path is most short, mechanical work is minimum etc..
Currently, the motion planning of redundant degree of freedom mechanical arm passes through the progress of Moveit motion planning frame, Moveit mostly Motion planning frame mainly uses Newton method and Sequential Quadratic Programming method to come in computing redundancy degree-of-freedom manipulator motion planning Inverse Kinematics Solution, however, using Newton method and Sequential Quadratic Programming method come in computing redundancy degree-of-freedom manipulator motion planning It is longer that Inverse Kinematics Solution often calculates the time, and difficulty in computation is higher, so as to cause redundant degree of freedom manipulator motion planning Total time is longer, planning efficiency is lower.
Summary of the invention
The embodiment of the present application is designed to provide a kind of redundant degree of freedom manipulator motion planning method and device, can be right Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning carries out dimension-reduction treatment, reduces and calculates the time, reduces difficulty in computation, So as to more rapidly, more easily obtain the control program of redundant degree of freedom mechanical arm, motion planning is completed, movement rule are reduced The total time drawn improve planning efficiency.
In a first aspect, the embodiment of the present application provides a kind of redundant degree of freedom manipulator motion planning method, comprising:
Obtain pose data corresponding with the expected pose of end effector of the redundant degree of freedom mechanical arm;
The 7 degree of freedom optimization problem in the redundant degree of freedom manipulator motion planning is carried out according to preset constraint condition Dimension-reduction treatment obtains two dimensional optimization problem;
The two dimensional optimization problem is solved, solving result is obtained;
According to the pose data and the solving result, the control program of the redundant degree of freedom mechanical arm is obtained.
During above-mentioned realization, by preset constraint condition to the movement in redundant degree of freedom manipulator motion planning The 7 degree of freedom optimization problem for learning inverse solution carries out dimension-reduction treatment, obtains two dimensional optimization problem;Two dimensional optimization problem is solved again, is obtained To solving result;According to the pose data corresponding with the expected pose of the end effector of redundant degree of freedom mechanical arm of acquisition With aforementioned solving result, the control program of redundant degree of freedom mechanical arm is obtained, the solution time of two dimensional optimization problem is shorter, solves Difficulty is lower, reduces the calculating time of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning, reduces redundancy certainly By the difficulty in computation of the Inverse Kinematics Solution in degree manipulator motion planning, thus in the motion planning of redundant degree of freedom mechanical arm The control program of redundant degree of freedom mechanical arm can more rapidly, be more easily obtained, motion planning is completed, reduces motion planning Total time improve planning efficiency.
Further, the preset constraint condition includes:
Seven joints of the redundant degree of freedom mechanical arm are divided into three groups, wherein first group includes the redundant degree of freedom First joint of mechanical arm to the 4th joint, second group include the redundant degree of freedom mechanical arm the 5th joint and the 6th close Section, third group includes the 7th joint of the redundant degree of freedom mechanical arm;And
The position in the 5th joint of redundant degree of freedom mechanical arm is determined with the pose data and the angle in the 7th joint; And
The third arthrodesis of the redundant degree of freedom mechanical arm;And
The 4th joint of redundant degree of freedom mechanical arm and the axis in the 5th joint and the axis in the 5th joint and the 6th joint Line is perpendicular.
During above-mentioned realization, seven joints of redundant degree of freedom mechanical arm are divided into three groups, first group include redundancy from By the first joint to the 4th joint of degree mechanical arm, second group include redundant degree of freedom mechanical arm the 5th joint and the 6th close Section, third group includes the 7th joint of redundant degree of freedom mechanical arm;The position in the 5th joint of redundant degree of freedom mechanical arm is with above-mentioned Pose data and the angle in the 7th joint determine;The third arthrodesis of redundant degree of freedom mechanical arm, i.e. third joint are opposite It is fixed, thus the first joint of redundant degree of freedom mechanical arm, second joint, the 4th joint angle there are limited group of solutions;If After the angle in the first joint of redundant degree of freedom mechanical arm to the 4th joint determines, the 5th joint of redundant degree of freedom mechanical arm with The angle in the 6th joint can be according to the 4th joint and the axis in the 5th joint and the axis perpendicular in the 5th joint and the 6th joint Limited group of solution is obtained, Such analysis is according to preset constraint condition to the kinematics in redundant degree of freedom manipulator motion planning The 7 degree of freedom optimization problem of inverse solution carries out dimension-reduction treatment, the thinking of two dimensional optimization problem is obtained, under this constraint condition, it is possible to understand that , the angle in the angle in third joint and the 7th joint is free variable, and the angle in remaining joint is parameter, and redundancy is free The third joint of degree mechanical arm is affected to the arm type of mechanical arm, this constraint condition can not only be preferably by redundant degree of freedom machine The 7 degree of freedom optimization problem dimensionality reduction of Inverse Kinematics Solution in tool arm motion planning is at two dimensional optimization problem, additionally it is possible to which guarantee constrains herein Under the conditions of redundant degree of freedom mechanical arm flexibility ratio with higher.
Further, described according to preset constraint condition to seven in the redundant degree of freedom manipulator motion planning It is described that the two dimensional optimization problem is carried out after tieing up the step of optimization problem carries out dimension-reduction treatment, obtains two dimensional optimization problem Before the step of solving, obtaining solving result, the method also includes:
Establish the collision detection model in the 5th joint to the 7th joint of the redundant degree of freedom mechanical arm;
Using the collision detection model as foundation, to the 5th joint to the 7th joint of the redundant degree of freedom mechanical arm into Row collision detection.
During above-mentioned realization, the 7 degree of freedom optimization of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is asked After dimensionality reduction is inscribed into two dimensional optimization problem, the collision detection mould in the 5th joint to the 7th joint of redundant degree of freedom mechanical arm is established Type, and using collision detection model as foundation, collision detection is carried out to the 5th joint to the 7th joint of redundant degree of freedom mechanical arm, It can be reduced calculation amount when two dimensional optimization problem solves, to further shorten the solution time of two dimensional optimization problem, reduce The solution difficulty of two dimensional optimization problem, and then further reduce the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning The calculating time, reduce redundant degree of freedom manipulator motion planning in Inverse Kinematics Solution difficulty in computation, further to subtract The total time of few motion planning, improve planning efficiency.
Further, the Mathematical Planning form of the two dimensional optimization problem are as follows:
s.t.ml14=mr14,ml24=mr24,ml34=mr34
Wherein, q3For the angle in the third joint of the redundant degree of freedom mechanical arm, q7For the redundant degree of freedom mechanical arm The 7th joint angle, mr11For MrThe element that the 1st row the 1st arranges in transfer matrix, ml21For MlThe 2nd row the 1st arranges in transfer matrix Element.
During above-mentioned realization, the Mathematical Planning form of two dimensional optimization problem be under certain preset constraint condition, It is superfluous using the angle in the third joint of redundant degree of freedom mechanical arm and the angle in the 7th joint as the Mathematical Planning form of free variable The third joint of cofree degree mechanical arm is affected to the arm type of mechanical arm, in the Mathematical Planning form of this two dimensional optimization problem Under, redundant degree of freedom mechanical arm can flexibility ratio with higher.
Further, described the step of solving to the two dimensional optimization problem, obtain solving result, includes:
By global optimization method and/or local optimization methods, the two dimensional optimization problem is solved, is solved As a result.
During above-mentioned realization, the 7 degree of freedom optimization of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is asked After dimensionality reduction is inscribed into two dimensional optimization problem, the solution difficulty of two dimensional optimization problem is low compared with the solution difficulty of two dimensional optimization problem to be obtained More, the solution of two dimensional optimization problem can be solved by global optimization method and/or a variety of solution modes of local optimization methods.
Second aspect, the embodiment of the present application provide a kind of redundant degree of freedom manipulator motion planning device, comprising:
Acquiring unit, it is corresponding with the expected pose of end effector of the redundant degree of freedom mechanical arm for obtaining Pose data;
Processing unit, for according to preset constraint condition to the 7 degree of freedom in the redundant degree of freedom manipulator motion planning Optimization problem carries out dimension-reduction treatment, obtains two dimensional optimization problem;
It solves unit and obtains solving result for solving to the two dimensional optimization problem;
Generation unit, for obtaining the redundant degree of freedom mechanical arm according to the pose data and the solving result Control program.
During above-mentioned realization, by preset constraint condition to the movement in redundant degree of freedom manipulator motion planning The 7 degree of freedom optimization problem for learning inverse solution carries out dimension-reduction treatment, obtains two dimensional optimization problem;Two dimensional optimization problem is solved again, is obtained To solving result;According to the pose data corresponding with the expected pose of the end effector of redundant degree of freedom mechanical arm of acquisition With aforementioned solving result, the control program of redundant degree of freedom mechanical arm is obtained, the solution time of two dimensional optimization problem is shorter, solves Difficulty is lower, reduces the calculating time of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning, reduces redundancy certainly By the difficulty in computation of the Inverse Kinematics Solution in degree manipulator motion planning, thus in the motion planning of redundant degree of freedom mechanical arm The control program of redundant degree of freedom mechanical arm can more rapidly, be more easily obtained, motion planning is completed, reduces motion planning Total time improve planning efficiency.
Further, the preset constraint condition includes:
Seven joints of the redundant degree of freedom mechanical arm are divided into three groups, wherein first group includes the redundant degree of freedom First joint of mechanical arm to the 4th joint, second group include the redundant degree of freedom mechanical arm the 5th joint and the 6th close Section, third group includes the 7th joint of the redundant degree of freedom mechanical arm;And
The position in the 5th joint of redundant degree of freedom mechanical arm is determined with the pose data and the angle in the 7th joint; And
The third arthrodesis of the redundant degree of freedom mechanical arm;And
The 4th joint of redundant degree of freedom mechanical arm and the axis in the 5th joint and the axis in the 5th joint and the 6th joint Line is perpendicular.
During above-mentioned realization, seven joints of redundant degree of freedom mechanical arm are divided into three groups, first group include redundancy from By the first joint to the 4th joint of degree mechanical arm, second group include redundant degree of freedom mechanical arm the 5th joint and the 6th close Section, third group includes the 7th joint of redundant degree of freedom mechanical arm;The position in the 5th joint of redundant degree of freedom mechanical arm is with above-mentioned Pose data and the angle in the 7th joint determine;The third arthrodesis of redundant degree of freedom mechanical arm, i.e. third joint are opposite It is fixed, thus the first joint of redundant degree of freedom mechanical arm, second joint, the 4th joint angle there are limited group of solutions;If After the angle in the first joint of redundant degree of freedom mechanical arm to the 4th joint determines, the 5th joint of redundant degree of freedom mechanical arm with The angle in the 6th joint can be according to the 4th joint and the axis in the 5th joint and the axis perpendicular in the 5th joint and the 6th joint Limited group of solution is obtained, Such analysis is according to preset constraint condition to the kinematics in redundant degree of freedom manipulator motion planning The 7 degree of freedom optimization problem of inverse solution carries out dimension-reduction treatment, the thinking of two dimensional optimization problem is obtained, under this constraint condition, it is possible to understand that , the angle in the angle in third joint and the 7th joint is free variable, and the angle in remaining joint is parameter, and redundancy is free The third joint of degree mechanical arm is affected to the arm type of mechanical arm, this constraint condition can not only be preferably by redundant degree of freedom machine The 7 degree of freedom optimization problem dimensionality reduction of Inverse Kinematics Solution in tool arm motion planning is at two dimensional optimization problem, additionally it is possible to which guarantee constrains herein Under the conditions of redundant degree of freedom mechanical arm flexibility ratio with higher.
Further, the redundant degree of freedom manipulator motion planning device further include:
Modeling unit, the collision detection mould in the 5th joint to the 7th joint for establishing the redundant degree of freedom mechanical arm Type;
Detection unit, for being closed to the 5th of the redundant degree of freedom mechanical arm the using the collision detection model as foundation Section to the 7th joint carries out collision detection.
During above-mentioned realization, the 7 degree of freedom optimization of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is asked After dimensionality reduction is inscribed into two dimensional optimization problem, the collision detection mould in the 5th joint to the 7th joint of redundant degree of freedom mechanical arm is established Type, and using collision detection model as foundation, collision detection is carried out to the 5th joint to the 7th joint of redundant degree of freedom mechanical arm, It can be reduced calculation amount when two dimensional optimization problem solves, to further shorten the solution time of two dimensional optimization problem, reduce The solution difficulty of two dimensional optimization problem, and then further reduce the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning The calculating time, reduce redundant degree of freedom manipulator motion planning in Inverse Kinematics Solution difficulty in computation, further to subtract The total time of few motion planning, improve planning efficiency.
Further, the Mathematical Planning form of the two dimensional optimization problem are as follows:
s.t.ml14=mr14,ml24=mr24,ml34=mr34
Wherein, q3For the angle in the third joint of the redundant degree of freedom mechanical arm, q7For the redundant degree of freedom mechanical arm The 7th joint angle, mr11For MrThe element that the 1st row the 1st arranges in transfer matrix, ml21For MlThe 2nd row the 1st arranges in transfer matrix Element.
During above-mentioned realization, the Mathematical Planning form of two dimensional optimization problem be under certain preset constraint condition, It is superfluous using the angle in the third joint of redundant degree of freedom mechanical arm and the angle in the 7th joint as the Mathematical Planning form of free variable The third joint of cofree degree mechanical arm is affected to the arm type of mechanical arm, in the Mathematical Planning form of this two dimensional optimization problem Under, redundant degree of freedom mechanical arm can flexibility ratio with higher.
Further, the solution unit is specifically used for:
By global optimization method and/or local optimization methods, the two dimensional optimization problem is solved, is solved As a result.
During above-mentioned realization, the 7 degree of freedom optimization of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is asked After dimensionality reduction is inscribed into two dimensional optimization problem, the solution difficulty of two dimensional optimization problem is low compared with the solution difficulty of two dimensional optimization problem to be obtained More, the solution of two dimensional optimization problem can be solved by global optimization method and/or a variety of solution modes of local optimization methods.
The third aspect, the embodiment of the present application provides a kind of computer equipment, including memory and processor, described to deposit Reservoir is for storing computer program, and the processor runs the computer program so that computer equipment execution is above-mentioned Redundant degree of freedom manipulator motion planning method.
Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, are stored with above-mentioned calculating Computer program used in machine equipment.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore should not be seen Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart for redundant degree of freedom manipulator motion planning method that the embodiment of the present application one provides;
Fig. 2 is a kind of flow chart for redundant degree of freedom manipulator motion planning method that the embodiment of the present application two provides;
Fig. 3 is a kind of structural representation for redundant degree of freedom manipulator motion planning device that the embodiment of the present application three provides Figure.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is described.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile the application's In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
For the problems of the prior art, this application provides a kind of redundant degree of freedom manipulator motion planning method and dresses Set, by preset constraint condition to the 7 degree of freedom optimization problem of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning into Row dimension-reduction treatment, obtains two dimensional optimization problem;Two dimensional optimization problem is solved again, obtains solving result;According to acquisition Pose data corresponding with the expected pose of the end effector of redundant degree of freedom mechanical arm and aforementioned solving result, obtain superfluous The solution time of the control program of cofree degree mechanical arm, two dimensional optimization problem is shorter, and solution difficulty is lower, reduces redundancy certainly By the calculating time of the Inverse Kinematics Solution in degree manipulator motion planning, reduce in redundant degree of freedom manipulator motion planning The difficulty in computation of Inverse Kinematics Solution, to can more rapidly, more easily be obtained in the motion planning of redundant degree of freedom mechanical arm To the control program of redundant degree of freedom mechanical arm, motion planning is completed, the total time of motion planning is reduced, improves planning efficiency.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of process of redundant degree of freedom manipulator motion planning method provided by the embodiments of the present application Figure.
The redundant degree of freedom manipulator motion planning method of the embodiment of the present application, includes the following steps:
Step S101 obtains pose number corresponding with the expected pose of the end effector of redundant degree of freedom mechanical arm According to.
Redundant degree of freedom mechanical arm usually has seven connecting rods, an end effector and seven joints, redundant degree of freedom Seven connecting rods of mechanical arm be respectively first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, six-bar linkage and Seven-link assembly;The seven-link assembly of the end effector connection redundant degree of freedom mechanical arm of redundant degree of freedom mechanical arm;Redundancy is free Spending between the first connecting rod and second connecting rod of mechanical arm has the first joint, and the second connecting rod and third of redundant degree of freedom mechanical arm connect There is second joint between bar, there is third joint between the third connecting rod and fourth link of redundant degree of freedom mechanical arm, redundancy is free Spending between the fourth link and the 5th connecting rod of mechanical arm has the 4th joint, and the 5th connecting rod of redundant degree of freedom mechanical arm and the 6th connects There is the 5th joint between bar, the of redundant degree of freedom mechanical arm has the 6th joint between six-bar linkage and seven-link assembly, redundancy is free The of degree mechanical arm has the 7th joint between seven-link assembly and end effector.
The expected pose of end effector, the i.e. desired locations and posture of end effector, it can be understood as, redundancy is free Degree mechanical arm carries out the expectation of the end effector of redundant degree of freedom mechanical arm when certain planning tasks under certain application scenarios Position and posture, for example, redundant degree of freedom mechanical arm carries out redundancy freedom when cargo is taken under the application scenarios of goods sorting Spend the desired locations and posture of the end effector of mechanical arm.
In the present embodiment, the present embodiment is said accordingly using sawyer redundant degree of freedom mechanical arm as example It is bright.
Step S102, according to preset constraint condition to the 7 degree of freedom optimization problem in redundant degree of freedom manipulator motion planning Dimension-reduction treatment is carried out, two dimensional optimization problem is obtained.
In the present embodiment, the angle in the i-th joint of redundant degree of freedom mechanical arm is qi, the of redundant degree of freedom mechanical arm One joint is A, and the second joint of redundant degree of freedom mechanical arm is B, and the third joint of redundant degree of freedom mechanical arm is C, and redundancy is certainly It is D by the 4th joint of degree mechanical arm, the 5th joint of redundant degree of freedom mechanical arm is E, the 6th of redundant degree of freedom mechanical arm the Joint is F, and the 7th joint of redundant degree of freedom mechanical arm is G, and the end effector of redundant degree of freedom mechanical arm is T.
Redundant degree of freedom mechanical arm around the homogeneous spin matrix of three reference axis be respectively trotx (), troty (), Trotz (), translation matrix are transl (x, y, z);| OA |=l0, | AB |=l1, | BC |=l2, | CD |=l3, | DE |=l4, | EF |=l5, | FG |=l6, | GT |=l7;Remember q=[q1 q2 … q7]TFor joint angles composition column vector,Position and posture for the corresponding end effector of joint angles vector.
It is as follows to define coordinate system:
Oxyz-- basis coordinates system, wherein origin is located at base bottom center, and x-axis is directed straight ahead, y-axis straight up, z Axis meets the right-hand rule;
OAXyz-- origin is A point, Oxyz to OAThe homogeneous rotational translation matrix of xyz is TO2A=transl (0,0, l0);
OBXyz-- origin is B point, OAXyz to OBThe homogeneous rotational translation matrix of xyz is TA2B=trotz (q1)transl (0,l1,0);
OCXyz-- origin is C point, OBXyz to OCThe homogeneous rotational translation matrix of xyz is TB2C=troty (q2)transl (l2,0,0);
ODXyz-- origin is D point, OCXyz to ODThe homogeneous rotational translation matrix of xyz is TC2D=trotx (q3)transl (0,-l3,0);
OEXyz-- origin is E point, ODXyz to OEThe homogeneous rotational translation matrix of xyz is TD2E=troty (q4)transl (l4,0,0);
OFXyz-- origin is F point, OEXyz to OFThe homogeneous rotational translation matrix of xyz is TE2F=trotx (q5)transl (0,l5,0);
OGXyz-- origin is G point, OFXyz to OGThe homogeneous rotational translation matrix of xyz is TF2G=troty (q6)transl (l6,0,0);
OTXyz-- origin is T point, OGXyz to OTThe homogeneous rotational translation matrix of xyz is TG2T=trotx (q7)transl (l7,0,0);
Homogeneous rotational translation matrix of the note basis coordinates system to end effector are as follows:
T can be obtained according to chain ruleO2T=TO2ATA2BTB2CTC2DTD2ETE2FTF2GTG2T, then have
This is kinematical equation.
It should be noted that being calculated according to (1.1) formula superfluous in each joint angles q of known redundant degree of freedom mechanical arm The pose of the end effector of cofree degree mechanical arm, as solution positive kinematics problem x=ffk(q);Known redundant degree of freedom The pose x of the end effector of mechanical arm is as solved according to (1.1) formula each joint angles q of computing redundancy degree-of-freedom manipulator Inverse Kinematics Problem q=fik(x)。
In the present embodiment, the expected pose of the end effector of redundant degree of freedom mechanical arm
Using sawyer redundant degree of freedom mechanical arm as example, sawyer redundant degree of freedom mechanical arm has 7 freedom degrees, The Mathematical Planning form of the 7 degree of freedom optimization problem of Inverse Kinematics Solution in motion planning are as follows:
Q is the free variable of 7 dimensions, when carrying out the solution of 7 degree of freedom optimization problem, it is longer to solve the calculating time, and solve meter It is higher to calculate difficulty.
In the present embodiment, above-mentioned preset constraint condition includes:
Seven joints of redundant degree of freedom mechanical arm are divided into three groups, wherein first group includes redundant degree of freedom mechanical arm First joint to the 4th joint, second group include redundant degree of freedom mechanical arm the 5th joint and the 6th joint, third group includes 7th joint of redundant degree of freedom mechanical arm;And
The above rheme appearance data in position in the 5th joint of redundant degree of freedom mechanical arm and the angle in the 7th joint determine;And
The third arthrodesis of redundant degree of freedom mechanical arm;And
The 4th joint of redundant degree of freedom mechanical arm and the axis in the 5th joint and the axis phase in the 5th joint and the 6th joint Vertically.
Under above-mentioned constraint condition, seven joints of redundant degree of freedom mechanical arm are divided into three groups, first group include redundancy from By the first joint to the 4th joint of degree mechanical arm, second group include redundant degree of freedom mechanical arm the 5th joint and the 6th close Section, third group includes the 7th joint of redundant degree of freedom mechanical arm;The position in the 5th joint of redundant degree of freedom mechanical arm is with above-mentioned Pose data and the angle in the 7th joint determine;The third arthrodesis of redundant degree of freedom mechanical arm, i.e. third joint are opposite It is fixed, thus the first joint of redundant degree of freedom mechanical arm, second joint, the 4th joint angle there are limited group of solutions;If After the angle in the first joint of redundant degree of freedom mechanical arm to the 4th joint determines, the 5th joint of redundant degree of freedom mechanical arm with The angle in the 6th joint can be according to the 4th joint and the axis in the 5th joint and the axis perpendicular in the 5th joint and the 6th joint Limited group of solution is obtained, Such analysis is according to preset constraint condition to the kinematics in redundant degree of freedom manipulator motion planning The 7 degree of freedom optimization problem of inverse solution carries out dimension-reduction treatment, the thinking of two dimensional optimization problem is obtained, under this constraint condition, it is possible to understand that , the angle in the angle in third joint and the 7th joint is free variable, and the angle in remaining joint is parameter, and redundancy is free The third joint of degree mechanical arm is affected to the arm type of mechanical arm, this constraint condition can not only be preferably by redundant degree of freedom machine The 7 degree of freedom optimization problem dimensionality reduction of Inverse Kinematics Solution in tool arm motion planning is at two dimensional optimization problem, additionally it is possible to which guarantee constrains herein Under the conditions of redundant degree of freedom mechanical arm flexibility ratio with higher.
It should be noted that the other embodiments of the application can also use other preset constraint conditions, as long as other Preset constraint condition is reasonable, and under other reasonable preset constraint conditions, in redundant degree of freedom manipulator motion planning Inverse Kinematics Solution 7 degree of freedom optimization problem dimensionality reduction at two dimensional optimization problem.
Under above-mentioned constraint condition, the three-dimensional coordinate of note E point is ex、ey、ez, (1.1) formula is changed to:
In (1.3) formula,It is known that the equation left side includes q5、q6、q7Three unknown quantitys, the equation left side include q1、q2、 q3、q4Four unknown quantitys.
It enables,
Mr(q1,q2,q3,q4)=TO2ATA2BTB2CTC2DTD2E (1.5)
(1.3) formula is equivalent to solve the Mathematical Planning form of 7 degree of freedom optimization problem:
Wherein, MlAnd MrFor transfer matrix,
According to above-mentioned geometrical constraint, the 7 degree of freedom optimization problem in redundant degree of freedom manipulator motion planning can be carried out Dimension-reduction treatment obtains two dimensional optimization problem.
The Mathematical Planning form of two dimensional optimization problem are as follows:
s.t.ml14=mr14,ml24=mr24,ml34=mr34
Wherein, q3For the angle in the third joint of redundant degree of freedom mechanical arm, q7The 7th for redundant degree of freedom mechanical arm closes The angle of section, mr11For MrThe element that the 1st row the 1st arranges in transfer matrix, ml21For MlThe element that the 2nd row the 1st arranges in transfer matrix.
In the present embodiment, the Mathematical Planning form of above-mentioned two dimensional optimization problem is under above-mentioned constraint condition, with redundancy The angle in the third joint of degree-of-freedom manipulator and the angle in the 7th joint are the Mathematical Planning form of free variable, due to redundancy The third joint of degree-of-freedom manipulator is affected to the arm type of mechanical arm, in the Mathematical Planning form of this two dimensional optimization problem Under, redundant degree of freedom mechanical arm can flexibility ratio with higher.
It should be noted that be also applicable to other dimensionality reduction thinkings similar for the Mathematical Planning form of above-mentioned two dimensional optimization problem Constraint condition, for example, on the basis of above-mentioned constraint condition, by the axis in the 4th joint and the 5th joint of redundant degree of freedom mechanical arm The axis perpendicular of line and the 5th joint and the 6th joint is changed to the axis in the 4th joint and the 5th joint of redundant degree of freedom mechanical arm Line and the axis in the 5th joint and the 6th joint are angled, can be 30 ° or 45 ° etc..
The other embodiments of the application can also use the Mathematical Planning form of other two dimensional optimization problems, and specific two dimension is excellent The Mathematical Planning form of change problem free variable according to set by other preset constraint conditions and specific constraint condition obtain.
Step S103 solves above-mentioned two dimensional optimization problem, obtains solving result.
In the present embodiment, can by global optimization method and/or local optimization methods, to above-mentioned two dimensional optimization problem into Row solves, and obtains solving result.
As an alternative embodiment, the solution of two dimensional optimization problem, can be solved, grain by particle swarm algorithm Swarm optimization is a kind of global optimization method.
One kind that particle swarm algorithm belongs to evolution algorithm is similar with simulated annealing, it is also to lead to from RANDOM SOLUTION It crosses iteration and finds optimal solution, it is also the quality of solution to be evaluated by fitness, but it is more simpler than genetic algorithm rule, it There is no " intersection " (Crossover) of genetic algorithm and " variation " (Mutation) operation, what it was arrived by following current search Optimal value finds global optimum.This algorithm has many advantages, such as that realization is easy, precision is high, convergence is fast, and is solving reality There is superiority in problem.
It should be noted that in the present embodiment, the solution of two dimensional optimization problem can also pass through other global optimization sides Method, for example, gridding method.
As an alternative embodiment, the solution of two dimensional optimization problem, can be asked by Sequential Quadratic Programming method Solution, Sequential Quadratic Programming method is a kind of local optimization methods.
It should be noted that in the present embodiment, the solution of two dimensional optimization problem can also pass through other local optimum sides Method, for example, Newton method.
As an alternative embodiment, the solution of two dimensional optimization problem, can first pass through particle swarm algorithm and obtain the overall situation Approximate solution, then really solved by Sequential Quadratic Programming method refinement.
As an alternative embodiment, the solution of two dimensional optimization problem, can first pass through gridding method and obtain global approximation Solution, then really solved by Sequential Quadratic Programming method refinement.
During above-mentioned realization, the 7 degree of freedom optimization of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is asked After dimensionality reduction is inscribed into two dimensional optimization problem, the solution difficulty of two dimensional optimization problem is low compared with the solution difficulty of two dimensional optimization problem to be obtained More, the solution of two dimensional optimization problem can be solved by global optimization method and/or a variety of solution modes of local optimization methods.
Step S104 obtains the control program of redundant degree of freedom mechanical arm according to above-mentioned pose data and solving result.
The control program of redundant degree of freedom mechanical arm for control redundant degree of freedom mechanical arm under certain application scenarios into Certain desired operation of row, with sawyer redundant degree of freedom mechanical arm as an example, can be free for controlling sawyer redundancy Degree mechanical arm is taken the control program of certain cargo or the cargo of certain position under the application scenarios of goods sorting.
Outside above-mentioned example, the control program of redundant degree of freedom mechanical arm is also possible to for controlling other redundancies freedom Degree mechanical arm is completed to open or close the operation etc. of certain switch in premises, for example, closing premises master bedroom electric light Switch.
It should be noted that the control program of the redundant degree of freedom mechanical arm obtained according to pose data and solving result, It can not only be obtained simply by pose data and solving result, it can also be by combining other data or information to obtain.
The redundant degree of freedom manipulator motion planning method of the embodiment of the present application, by preset constraint condition to redundancy from Dimension-reduction treatment is carried out by the 7 degree of freedom optimization problem of the Inverse Kinematics Solution in degree manipulator motion planning, obtains two dimensional optimization problem; Two dimensional optimization problem is solved again, obtains solving result;According to the end execution with redundant degree of freedom mechanical arm of acquisition The corresponding pose data of the expected pose of device and aforementioned solving result, obtain the control program of redundant degree of freedom mechanical arm, and two The solution time for tieing up optimization problem is shorter, and solution difficulty is lower, reduces the movement in redundant degree of freedom manipulator motion planning The calculating time for learning inverse solution, the difficulty in computation of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is reduced, thus The controlling party of redundant degree of freedom mechanical arm can more rapidly, be more easily obtained in the motion planning of redundant degree of freedom mechanical arm Case completes motion planning, reduces the total time of motion planning, improves planning efficiency.
Embodiment two
Referring to fig. 2, Fig. 2 is a kind of process of redundant degree of freedom manipulator motion planning method provided by the embodiments of the present application Figure.
The redundant degree of freedom manipulator motion planning method of the embodiment of the present application, includes the following steps:
Step S201 obtains pose number corresponding with the expected pose of the end effector of redundant degree of freedom mechanical arm According to.
Step S202, according to preset constraint condition to the 7 degree of freedom optimization problem in redundant degree of freedom manipulator motion planning Dimension-reduction treatment is carried out, two dimensional optimization problem is obtained.
Step S203 establishes the collision detection model in the 5th joint to the 7th joint of redundant degree of freedom mechanical arm.
In the present embodiment, above-mentioned collision detection model is for the 5th joint to redundant degree of freedom mechanical arm to the Seven joints carry out the model of collision detection, do not include examining to the first joint to the 4th joint of redundant degree of freedom mechanical arm It surveys, therefore, the modeling time of above-mentioned collision detection model can be shorter.
Step S204, using above-mentioned collision detection model as foundation, to the 5th joint of redundant degree of freedom mechanical arm to the 7th Joint carries out collision detection.
During above-mentioned realization, the 7 degree of freedom optimization of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is asked After dimensionality reduction is inscribed into two dimensional optimization problem, the collision detection mould in the 5th joint to the 7th joint of redundant degree of freedom mechanical arm is established Type, and using collision detection model as foundation, collision detection is carried out to the 5th joint to the 7th joint of redundant degree of freedom mechanical arm, It can be reduced calculation amount when two dimensional optimization problem solves, to further shorten the solution time of two dimensional optimization problem, reduce The solution difficulty of two dimensional optimization problem.
In the present embodiment, with sawyer redundant degree of freedom mechanical arm as an example, step S203 and step S204 can be more For suitable for the application scenarios for carrying out goods sorting on the goods carrier of trellis-type.
Step S205 solves above-mentioned two dimensional optimization problem, obtains solving result.
Step S206 obtains the control program of redundant degree of freedom mechanical arm according to above-mentioned pose data and solving result.
The redundant degree of freedom manipulator motion planning method of the embodiment of the present application, in redundant degree of freedom manipulator motion planning In Inverse Kinematics Solution 7 degree of freedom optimization problem dimensionality reduction at two dimensional optimization problem after, establish redundant degree of freedom mechanical arm the 5th close It saves to the collision detection model in the 7th joint, and using collision detection model as foundation, is closed to the 5th of redundant degree of freedom mechanical arm the Section to the 7th joint carries out collision detection, can be reduced calculation amount when two dimensional optimization problem solves, to further shorten two The solution time for tieing up optimization problem, the solution difficulty of two dimensional optimization problem is reduced, and then further reduce redundant degree of freedom machine The calculating time of Inverse Kinematics Solution in tool arm motion planning reduces the Inverse Kinematics in redundant degree of freedom manipulator motion planning The difficulty in computation of solution improves planning efficiency further to reduce the total time of motion planning.
Remaining content of the embodiment of the present application can refer to the content of above-described embodiment one, in the present embodiment, no longer carry out It repeats.
Embodiment three
Referring to Fig. 3, Fig. 3 is a kind of structure of redundant degree of freedom manipulator motion planning device provided by the embodiments of the present application Schematic diagram.
The redundant degree of freedom manipulator motion planning device of the embodiment of the present application, comprising:
Acquiring unit 310, it is corresponding with the expected pose of the end effector of redundant degree of freedom mechanical arm for obtaining Pose data.
Processing unit 320, for according to preset constraint condition to the 7 degree of freedom in redundant degree of freedom manipulator motion planning Optimization problem carries out dimension-reduction treatment, obtains two dimensional optimization problem.
In the present embodiment, above-mentioned preset constraint condition includes:
Seven joints of redundant degree of freedom mechanical arm are divided into three groups, wherein first group includes redundant degree of freedom mechanical arm First joint to the 4th joint, second group include redundant degree of freedom mechanical arm the 5th joint and the 6th joint, third group includes 7th joint of redundant degree of freedom mechanical arm;And
The above rheme appearance data in position in the 5th joint of redundant degree of freedom mechanical arm and the angle in the 7th joint determine;And
The third arthrodesis of redundant degree of freedom mechanical arm;And
The 4th joint of redundant degree of freedom mechanical arm and the axis in the 5th joint and the axis phase in the 5th joint and the 6th joint Vertically.
Under above-mentioned constraint condition, seven joints of redundant degree of freedom mechanical arm are divided into three groups, first group include redundancy from By the first joint to the 4th joint of degree mechanical arm, second group include redundant degree of freedom mechanical arm the 5th joint and the 6th close Section, third group includes the 7th joint of redundant degree of freedom mechanical arm;The position in the 5th joint of redundant degree of freedom mechanical arm is with above-mentioned Pose data and the angle in the 7th joint determine;The third arthrodesis of redundant degree of freedom mechanical arm, i.e. third joint are opposite It is fixed, thus the first joint of redundant degree of freedom mechanical arm, second joint, the 4th joint angle there are limited group of solutions;If After the angle in the first joint of redundant degree of freedom mechanical arm to the 4th joint determines, the 5th joint of redundant degree of freedom mechanical arm with The angle in the 6th joint can be according to the 4th joint and the axis in the 5th joint and the axis perpendicular in the 5th joint and the 6th joint Limited group of solution is obtained, Such analysis is according to preset constraint condition to the kinematics in redundant degree of freedom manipulator motion planning The 7 degree of freedom optimization problem of inverse solution carries out dimension-reduction treatment, the thinking of two dimensional optimization problem is obtained, under this constraint condition, it is possible to understand that , the angle in the angle in third joint and the 7th joint is free variable, and the angle in remaining joint is parameter, and redundancy is free The third joint of degree mechanical arm is affected to the arm type of mechanical arm, this constraint condition can not only be preferably by redundant degree of freedom machine The 7 degree of freedom optimization problem dimensionality reduction of Inverse Kinematics Solution in tool arm motion planning is at two dimensional optimization problem, additionally it is possible to which guarantee constrains herein Under the conditions of redundant degree of freedom mechanical arm flexibility ratio with higher.
In the present embodiment, the Mathematical Planning form of two dimensional optimization problem are as follows:
s.t.ml14=mr14,ml24=mr24,ml34=mr34
Wherein, q3For the angle in the third joint of redundant degree of freedom mechanical arm, q7The 7th for redundant degree of freedom mechanical arm closes The angle of section, mr11For MrThe element that the 1st row the 1st arranges in transfer matrix, ml21For MlThe element that the 2nd row the 1st arranges in transfer matrix.
In the present embodiment, the Mathematical Planning form of above-mentioned two dimensional optimization problem is under above-mentioned constraint condition, with redundancy The angle in the third joint of degree-of-freedom manipulator and the angle in the 7th joint are the Mathematical Planning form of free variable, due to redundancy The third joint of degree-of-freedom manipulator is affected to the arm type of mechanical arm, in the Mathematical Planning form of this two dimensional optimization problem Under, redundant degree of freedom mechanical arm can flexibility ratio with higher.
It solves unit 330 and obtains solving result for solving to above-mentioned two dimensional optimization problem.
In the present embodiment, can by global optimization method and/or local optimization methods, to above-mentioned two dimensional optimization problem into Row solves, and obtains solving result.
During above-mentioned realization, the 7 degree of freedom optimization of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is asked After dimensionality reduction is inscribed into two dimensional optimization problem, the solution difficulty of two dimensional optimization problem is low compared with the solution difficulty of two dimensional optimization problem to be obtained More, the solution of two dimensional optimization problem can be solved by global optimization method and/or a variety of solution modes of local optimization methods.
Generation unit 340, for obtaining the control of redundant degree of freedom mechanical arm according to above-mentioned pose data and solving result Scheme.
As an alternative embodiment, the redundant degree of freedom manipulator motion planning device of the embodiment of the present application, also Include:
Modeling unit, the collision detection model in the 5th joint to the 7th joint for establishing redundant degree of freedom mechanical arm.
Detection unit, for using above-mentioned collision detection model as foundation, extremely to the 5th joint of redundant degree of freedom mechanical arm 7th joint carries out collision detection.
During above-mentioned realization, the 7 degree of freedom optimization of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is asked After dimensionality reduction is inscribed into two dimensional optimization problem, the collision detection mould in the 5th joint to the 7th joint of redundant degree of freedom mechanical arm is established Type, and using collision detection model as foundation, collision detection is carried out to the 5th joint to the 7th joint of redundant degree of freedom mechanical arm, It can be reduced calculation amount when two dimensional optimization problem solves, to further shorten the solution time of two dimensional optimization problem, reduce The solution difficulty of two dimensional optimization problem.
The redundant degree of freedom manipulator motion planning device of the embodiment of the present application, by preset constraint condition to redundancy from Dimension-reduction treatment is carried out by the 7 degree of freedom optimization problem of the Inverse Kinematics Solution in degree manipulator motion planning, obtains two dimensional optimization problem; Two dimensional optimization problem is solved again, obtains solving result;According to the end execution with redundant degree of freedom mechanical arm of acquisition The corresponding pose data of the expected pose of device and aforementioned solving result, obtain the control program of redundant degree of freedom mechanical arm, and two The solution time for tieing up optimization problem is shorter, and solution difficulty is lower, reduces the movement in redundant degree of freedom manipulator motion planning The calculating time for learning inverse solution, the difficulty in computation of the Inverse Kinematics Solution in redundant degree of freedom manipulator motion planning is reduced, thus The controlling party of redundant degree of freedom mechanical arm can more rapidly, be more easily obtained in the motion planning of redundant degree of freedom mechanical arm Case completes motion planning, reduces the total time of motion planning, improves planning efficiency.
The redundancy of above-mentioned redundant degree of freedom manipulator motion planning device implementable above-described embodiment one and embodiment two Degree-of-freedom manipulator motion planning method.Any option in above-described embodiment one and embodiment two is also applied for this implementation Example, I will not elaborate.
Remaining content of the embodiment of the present application can refer to the content of above-described embodiment one and embodiment two, in the present embodiment In, no longer repeated.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing Show the device of multiple embodiments according to the application, the architectural framework in the cards of method and computer program product, Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps. And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The above description is only an example of the present application, the protection scope being not intended to limit this application, for ability For the technical staff in domain, various changes and changes are possible in this application.Within the spirit and principles of this application, made Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this application.It should also be noted that similar label and Letter indicates similar terms in following attached drawing, therefore, once it is defined in a certain Xiang Yi attached drawing, then in subsequent attached drawing In do not need that it is further defined and explained.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain Lid is within the scope of protection of this application.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

Claims (10)

1. a kind of redundant degree of freedom manipulator motion planning method characterized by comprising
Obtain pose data corresponding with the expected pose of end effector of the redundant degree of freedom mechanical arm;
Dimensionality reduction is carried out to the 7 degree of freedom optimization problem in the redundant degree of freedom manipulator motion planning according to preset constraint condition Processing, obtains two dimensional optimization problem;
The two dimensional optimization problem is solved, solving result is obtained;
According to the pose data and the solving result, the control program of the redundant degree of freedom mechanical arm is obtained.
2. redundant degree of freedom manipulator motion planning method according to claim 1, which is characterized in that it is described it is preset about Beam condition includes:
Seven joints of the redundant degree of freedom mechanical arm are divided into three groups, wherein first group includes that the redundant degree of freedom is mechanical First joint of arm to the 4th joint, second group include the redundant degree of freedom mechanical arm the 5th joint and the 6th joint, Three groups include the redundant degree of freedom mechanical arm the 7th joint;And
The position in the 5th joint of redundant degree of freedom mechanical arm is determined with the pose data and the angle in the 7th joint;And
The third arthrodesis of the redundant degree of freedom mechanical arm;And
The 4th joint of redundant degree of freedom mechanical arm and the axis in the 5th joint and the axis phase in the 5th joint and the 6th joint Vertically.
3. redundant degree of freedom manipulator motion planning method according to claim 1, which is characterized in that pre- in the basis If constraint condition in the redundant degree of freedom manipulator motion planning 7 degree of freedom optimization problem carry out dimension-reduction treatment, obtain two After the step of tieing up optimization problem, before described the step of solving to the two dimensional optimization problem, obtain solving result, institute State method further include:
Establish the collision detection model in the 5th joint to the 7th joint of the redundant degree of freedom mechanical arm;
Using the collision detection model as foundation, the 5th joint to the 7th joint of the redundant degree of freedom mechanical arm is touched Hit detection.
4. redundant degree of freedom manipulator motion planning method according to claim 1, which is characterized in that the two-dimensional optimization The Mathematical Planning form of problem are as follows:
s.t.ml14=mr14,ml24=mr24,ml34=mr34
Wherein, q3For the angle in the third joint of the redundant degree of freedom mechanical arm, q7It is the of the redundant degree of freedom mechanical arm The angle in seven joints, mr11For MrThe element that the 1st row the 1st arranges in transfer matrix, ml21For MlThe member that the 2nd row the 1st arranges in transfer matrix Element.
5. redundant degree of freedom manipulator motion planning method according to claim 1, which is characterized in that described to described two Tieing up the step of optimization problem is solved, obtains solving result includes:
By global optimization method and/or local optimization methods, the two dimensional optimization problem is solved, obtains solving knot Fruit.
6. a kind of redundant degree of freedom manipulator motion planning device characterized by comprising
Acquiring unit, for obtaining pose corresponding with the expected pose of end effector of the redundant degree of freedom mechanical arm Data;
Processing unit, for being optimized according to preset constraint condition to the 7 degree of freedom in the redundant degree of freedom manipulator motion planning Problem carries out dimension-reduction treatment, obtains two dimensional optimization problem;
It solves unit and obtains solving result for solving to the two dimensional optimization problem;
Generation unit, for obtaining the control of the redundant degree of freedom mechanical arm according to the pose data and the solving result Scheme processed.
7. redundant degree of freedom manipulator motion planning device according to claim 6, which is characterized in that it is described it is preset about Beam condition includes:
Seven joints of the redundant degree of freedom mechanical arm are divided into three groups, wherein first group includes that the redundant degree of freedom is mechanical First joint of arm to the 4th joint, second group include the redundant degree of freedom mechanical arm the 5th joint and the 6th joint, Three groups include the redundant degree of freedom mechanical arm the 7th joint;And
The position in the 5th joint of redundant degree of freedom mechanical arm is determined with the pose data and the angle in the 7th joint;And
The third arthrodesis of the redundant degree of freedom mechanical arm;And
The 4th joint of redundant degree of freedom mechanical arm and the axis in the 5th joint and the axis in the 5th joint and the 6th joint.
8. redundant degree of freedom manipulator motion planning device according to claim 6, which is characterized in that the redundancy is free Spend manipulator motion planning device further include:
Modeling unit, the collision detection model in the 5th joint to the 7th joint for establishing the redundant degree of freedom mechanical arm;
Detection unit, for using the collision detection model as foundation, extremely to the 5th joint of the redundant degree of freedom mechanical arm 7th joint carries out collision detection.
9. redundant degree of freedom manipulator motion planning device according to claim 6, which is characterized in that the two-dimensional optimization The Mathematical Planning form of problem are as follows:
s.t.ml14=mr14,ml24=mr24,ml34=mr34
Wherein, q3For the angle in the third joint of the redundant degree of freedom mechanical arm, q7It is the of the redundant degree of freedom mechanical arm The angle in seven joints, mr11For MrThe element that the 1st row the 1st arranges in transfer matrix, ml21For MlThe member that the 2nd row the 1st arranges in transfer matrix Element.
10. redundant degree of freedom manipulator motion planning device according to claim 6, which is characterized in that the solution is single Member is specifically used for:
By global optimization method and/or local optimization methods, the two dimensional optimization problem is solved, obtains solving knot Fruit.
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