CN102126219A - Fault-tolerant type motion planning method of redundancy mechanical arm - Google Patents
Fault-tolerant type motion planning method of redundancy mechanical arm Download PDFInfo
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Abstract
The invention provides a fault-tolerant type motion planning method of a redundancy mechanical arm, which comprises the following steps of: (1) determining a deadlocked joint caused by occurrence of a fault, and establishing a fault-tolerant type redundancy analysis scheme based on a secondary plan, wherein minimum performance indexes of the analysis scheme design are a speed vector, repeated motion or kinetic energy, a speed-restricted Jacobi matrix equation, joint velocity limit and joint angle limit, and the joint velocity limit changes as a joint angle changes; (2) solving the fault-tolerant type redundancy analysis scheme based on the secondary plan in the step (1) by using a numerical method; and (3) transmitting the solution of the step (2) to a lower computer controller to drive the mechanical arm to complete a given terminal task. The method is characterized in that: the automatic fault-tolerant processing can be performed and the given terminal task can be completed just by knowing the serial number and the locked angle of the deadlocked joint caused by occurrence of the fault.
Description
Technical field
The present invention relates to redundant manipulator motion planning and control field, be specifically related to a kind of error-tolerance type motion planning method of redundancy mechanical arm.
Background technology
Redundancy mechanical arm is the terminal active mechanical device of a kind of free degree greater than the required least degree of freedom of task space, its motion task comprises welding, paint, assembling, excavation and drawing etc., is widely used in the national economy activities in production such as equipment manufacturing, product processing, machinery operation.The inverse kinematics problem of redundancy mechanical arm is meant the terminal pose of known mechanical arm, determines the joint angle problem of mechanical arm.When a certain joint of redundancy mechanical arm hinders (being equivalent to reduce the free degree of mechanical arm) when locked for some reason, with regard to general programme, the terminal task of just can't finish appointment of this mechanical arm according to the parsing scheme of being scheduled to; And the error-tolerance type redundancy is resolved scheme, exactly fault-tolerant processing (numbering, record locking angle and add is carried out in the joint that goes wrong
The type quadratic programming), make mechanical arm can finish given end track task.
Summary of the invention
Technical problem to be solved by this invention provides little, the error-tolerance type motion planning method when being used for redundancy mechanical arm generation knuckle failure of a kind of amount of calculation.
For solving the problems of the technologies described above, the present invention is achieved by the following technical programs:
1, a kind of redundancy mechanical arm error-tolerance type motion planning method comprises the steps:
1) determines to break down and locked joint occurs, promptly, by artificially or automatically detecting, the joint of sending out instruction any and not moving, foundation is resolved scheme based on the error-tolerance type redundancy of quadratic programming, the minimum performance index of described parsing conceptual design is velocity vector, repeating motion or kinetic energy, is tied in Jacobian matrix equation, the joint velocity limit and the joint angle limit of speed, and this joint velocity limit changes with joint angles;
2) the error-tolerance type redundancy parsing scheme utilization numerical method based on quadratic programming of step 1) is found the solution;
3) with step 2) solving result pass to the slave computer controller, the driving device arm is finished given terminal task.
2, redundancy mechanical arm error-tolerance type motion planning method, its parameter
The status fault matrix (being used in scheme resolving persistent fault joint) of expression joint of mechanical arm locked joint numbering occurs according to breaking down, and adjusts the status fault matrix
In respective element be 1(and
In the surplus element in this Xingqi be 0).
3, in the redundancy mechanical arm error-tolerance type motion planning method, design its performance indications and be: minimize
, be tied in
,
,
,
, wherein
Expression joint velocity vector,
With
Be the matrix and the vector of suitable dimension, subscript
The transposition of representing matrix and vector,
The Jacobian matrix of expression mechanical arm,
Expression joint angle vector,
Expression mechanical arm end effector velocity vector,
,
Represent joint angle limit range and joint velocity limit range respectively,
Expression joint angle bound,
Expression joint velocity bound.
4, above-mentioned error-tolerance type motion planning method is converted into a standard quadratic programming; That is, minimize
, be tied in
,
, wherein
,
,
,
,
, positive constant
Be used for regulating and guaranteeing the enough big feasible zone of joint velocity.
5, described standard quadratic programming is equivalent to a linear projection equation
, wherein
Be the space
To set
The piecewise linearity projection operator,
Be the dimension of cartesian space,
Be the dimension of joint space,
Represent former dual variable,
Represent former dual variable limit inferior,
Represent former dual variable limes superiors, former dual variable
And bound is defined as follows:
Wherein
Be corresponding to equality constraint
The antithesis decision vector,
Be that element all is 1 respective dimension number vector;
Be enough big constant, be used for substituting on the numerical value infinitely great
, and augmented matrix
Be defined as follows:
Then, the linear projection equation is found the solution with numerical method, designs its error of calculation to be
: when error is zero, its correspondence
Value is separating of piecewise linearity equation just, before it
Individual element is formed separating of quadratic programming
, given initial value
, obtain by following iteration
Make error
Reach default precision:
, wherein
,
With
Be defined as respectively
,
,, obtain piecewise linearity projection equation by the continuous iteration of algorithm
Separate, thereby obtain the optimal solution of redundancy mechanical arm error-tolerance type motion planning.
Compared with prior art, the present invention has following advantage:
, break down when locked when a certain joint of redundancy mechanical arm in the past, and needed the redesign scheme usually or utilize to optimize algorithm and constantly regulate parameter to adapt to the last free degree, process is comparatively loaded down with trivial details.The present invention only need know joint numbering and the locking angle that breaks down locked, just can carry out automatic fault tolerant handles, finish given terminal task, thereby avoided redesigning the additional workload that is brought and optimized the complicated processes that parameter was constantly soundd out/adjusted to algorithm.
Description of drawings
Fig. 1 is a flow chart of the present invention;
Fig. 2 is the concrete mechanical arm three-dimensional model diagram of the present invention of implementing;
Fig. 3 is for realizing redundancy mechanical arm error-tolerance type motion planning schematic diagram of the present invention.
The specific embodiment
The present invention is described further below in conjunction with accompanying drawing.
Redundancy mechanical arm error-tolerance type motion planning method shown in Figure 1 is mainly by definite fault joint, set up based on the error-tolerance type redundancy of quadratic programming resolve scheme 1, utilization numerical method to the quadratic programming scheme find the solution 2, slave computer controller 3 and mechanical arm 4 form.
Fig. 2 has showed and has realized that mechanical arm of the present invention is the mechanical arm of a plane six degree of freedom.This mechanical arm is made up of six connecting rods, is connected by joint 5, joint 6, joint 7, joint 8, joint 9 and joint 10.11 tracks of being finished for the mechanical arm end.In the present invention, this joint of mechanical arm 5-10 initial angle is set to
Radian, its joint angles limes superiors is set to
Radian, its joint angles limit inferior is set to
Radian, the length of connecting rod of this plane six degree of freedom redundancy mechanical arm
Rice.
Fig. 3 is for realizing the fault-tolerant movement locus schematic diagram of redundancy mechanical arm of the present invention.In this concrete example, the task of mechanical arm is equilateral triangle of picture, and joint of mechanical arm 9 is locked because of breaking down, and its angle value in whole task implementation remains
Radian.Adopt redundancy mechanical arm error-tolerance type motion planning method, that is: according to the numbering configuration of fault joint
, and utilization quadratic programming numerical method is found the solution.Send the result who calculates to the mechanical arm controller, thereby the control mechanical arm is finished the end orbit task, as shown in Figure 3.
Be the present invention below about redundancy mechanical arm error-tolerance type motion planning method:
Wherein,
Be the exercise performance index of desire optimization,
Expression joint velocity vector,
With
Be the matrix and the vector of suitable dimension, subscript
The transposition of representing matrix and vector, equality constraint
The terminal movement locus of corresponding mechanical arm,
The Jacobian matrix of expression mechanical arm,
The status fault matrix (being used for) of expression joint of mechanical arm in scheme resolving persistent fault joint,
Expression joint angle vector,
Corresponding mechanical arm end effector velocity vector,
,
Represent joint angle limit range and joint velocity limit range respectively,
Expression joint angle bound,
Expression joint velocity bound.It is worthy of note that the joint velocity limit herein is along with joint angle changes.
Consider that above-mentioned optimization problem is to find the solution on velocity layer, therefore need joint angles constraint (4), the joint velocity constraint (5) of mechanical arm are merged, thereby can obtain based on speed
The both-end inequality constraints:
img?id="idf0010"?file="2010105531899A00800049.GIF"?wi="139"?he="6"?top="138"?left="25"?img-content="drawing"?img-format="GIF"?orientation="portrait"?inline="no"/>
Wherein,
With
In
Individual element is defined as respectively:
,
Positive constant
(as being taken as 4) is used for regulating the feasible zone of joint velocity.With
The joint velocity of expression mechanical arm
, mechanical arm quadratic form prioritization scheme (1)-(5) of band physical constraint just can be described as following standard quadratic programming scheme:
Wherein
,
,
In this specific embodiment, can choose
Be unit matrix,
Above-mentioned standard quadratic programming can be converted into a linear projection equation
Find the solution, wherein
Be the space
To set
The piecewise linearity projection operator,
Be the dimension of cartesian space,
Be the dimension of joint space,
Represent former dual variable,
Represent former dual variable limit inferior,
Represent former dual variable limes superiors, former dual variable
And bound is defined as follows:
Wherein
Be corresponding to equality constraint
The antithesis decision vector,
Be that element all is 1 respective dimension number vector;
Be enough big constant, be used for substituting on the numerical value infinitely great
, and augmented matrix
Be defined as follows:
Then, the linear projection equation is found the solution with numerical method.Designing its error of calculation is
: when error is zero, its correspondence
Value is separating of piecewise linearity equation just, before it
Individual element is formed separating of quadratic programming
Given initial value
, obtain by following iteration
Make error
Reach default precision:
, wherein
,
With
Be defined as respectively
,
,, just can obtain piecewise linearity projection equation by the continuous iteration of algorithm (general) for several times to hundreds of times
Separate, thereby obtain the optimal solution of redundancy mechanical arm error-tolerance type motion planning.
Claims (6)
1. a redundancy mechanical arm error-tolerance type motion planning method is characterized in that comprising the steps:
1) determines to break down and locked joint occurs, foundation is resolved scheme based on the error-tolerance type redundancy of quadratic programming, the minimum performance index of described parsing conceptual design is velocity vector, repeating motion or kinetic energy, be tied in Jacobian matrix equation, the joint velocity limit and the joint angle limit of speed, this joint velocity limit changes with joint angles;
2) the error-tolerance type redundancy parsing scheme utilization numerical method based on quadratic programming of step 1) is found the solution;
3) with step 2) solving result pass to the slave computer controller, the driving device arm is finished given terminal task.
2. redundancy mechanical arm error-tolerance type motion planning method according to claim 1 is characterized in that: resolving conceptual design based on the error-tolerance type redundancy of quadratic programming in the described step 1) is: minimize
, be tied in
,
,
,
, wherein
Be the exercise performance index of desire optimization,
Expression joint velocity vector,
With
Be the matrix and the vector of suitable dimension, subscript
The transposition of representing matrix and vector, equality constraint
The terminal movement locus of corresponding mechanical arm,
The Jacobian matrix of expression mechanical arm,
Expression joint angle vector,
Expression mechanical arm end effector velocity vector,
,
Represent joint angle scope and joint velocity scope respectively,
Expression joint angle bound,
Expression joint velocity bound,
The status fault matrix of expression joint of mechanical arm is used for determining the fault joint in the parsing scheme.
3. redundancy mechanical arm error-tolerance type motion planning method according to claim 2 is characterized in that: described status fault matrix
, locked joint numbering appears according to breaking down, adjust the status fault matrix
In respective element be 1, and
In the surplus element in this Xingqi be 0.
4. redundancy mechanical arm error-tolerance type motion planning method according to claim 2, it is characterized in that: in the error-tolerance type redundancy parsing scheme based on quadratic programming of described step 1), described error-tolerance type motion planning method is converted into a standard quadratic programming: minimize
, be tied in
,
, wherein
,
,
,
,
, positive constant
Be used for regulating and guaranteeing the enough big feasible zone of joint velocity.
5. redundancy mechanical arm error-tolerance type motion planning method according to claim 4 is characterized in that: described standard quadratic programming is equivalent to a linear projection equation
, wherein
Be the space
To set
The piecewise linearity projection operator,
Be the dimension of cartesian space,
Be the dimension of joint space,
Represent former dual variable,
Represent former dual variable limit inferior,
Represent former dual variable limes superiors, former dual variable
And bound is defined as follows:
Wherein
Be corresponding to equality constraint
The antithesis decision vector,
Be that element all is 1 respective dimension number vector;
Be enough big constant, be used for substituting on the numerical value infinitely great
, and augmented matrix
Be defined as follows:
Then, the linear projection equation is found the solution with numerical method.
6. linear projection equation according to claim 5 is characterized in that: designing its error of calculation is
: when error is zero, its correspondence
Value is separating of piecewise linearity equation just, before it
Individual element is formed separating of quadratic programming
, given initial value
, obtain by following iteration
Make error
Reach default precision:
, wherein
,
With
Be defined as respectively
,
,, obtain piecewise linearity projection equation by the continuous iteration of algorithm
Separate, thereby obtain the optimal solution of redundancy mechanical arm error-tolerance type motion planning.
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