Title:
METHOD AND DEVICE FOR CONTROLLING REDUNDANT ROBOT ARM
Document Type and Number:
WIPO Patent Application WO/2018/107851
Kind Code:
A1
Abstract:
A method and device for controlling a redundant robot arm. The method comprises: acquiring information about a current point where a redundant robot arm is located and information about a target point; according to the current point information and the target point information, determining a trajectory function corresponding to a motion trajectory of the redundant robot arm moving from the current point to the target point; establishing an equation corresponding to the trajectory function by using a redundancy spatial vector as an independent variable; and solving the equation corresponding to the trajectory function according to an objective approaching method, so as to obtain the position and speed of each joint in the redundant robot arm corresponding to the motion trajectory. By means of the technical solution, on the premise of obtaining an optimal global solution satisfying a design goal, the search space for a multi-objective optimization problem of a redundant robot arm can be reduced, the occurrence of dimension explosion in a multi-objective solution process can be avoided, the computation required in a redundant robot arm control process can be simplified, and the reaction speed of the redundant robot arm can be improved.
Inventors:
YANG FANGPING (CN)
Application Number:
PCT/CN2017/103286
Publication Date:
June 21, 2018
Filing Date:
September 25, 2017
Export Citation:
Assignee:
GUANGZHOU SHIYUAN ELECTRONICS CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN106625666A | 2017-05-10 | |||
| CN103147577A | 2013-06-12 | |||
| CN103984230A | 2014-08-13 | |||
| CN104526695A | 2015-04-22 | |||
| JPS61271508A | 1986-12-01 | |||
| JP2012130999A | 2012-07-12 | |||
| US20140358283A1 | 2014-12-04 |
Attorney, Agent or Firm:
BEYOND ATTORNEYS AT LAW (CN)
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