CN106003104B - It is a kind of to be suitable for the mechanical arm planing method that visual information guides under multi-constraint condition - Google Patents
It is a kind of to be suitable for the mechanical arm planing method that visual information guides under multi-constraint condition Download PDFInfo
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Abstract
It is suitable for the mechanical arm planing method that visual information guides under multi-constraint condition the present invention relates to a kind of, includes the following steps：(1) working stage that mechanical arm is presently in is judged；(2) capture target location is obtained, and calculates target velocity；(3) judge whether to meet contact conditions, if it is, completing to arrest operation, if it is not, then performing step (4)；(4) judge whether trick camera stablizes capture, if it is, the mechanical arm planning instruction of capture section is performed, if it is not, then performing step (5)；(5) judge whether mechanical arm enters hazardous area, if it is, the mechanical arm planning instruction of search Approach phase is performed, if it is not, then performing the planning instruction of fast approaching section mechanical arm.This method, as visual sensor, ensures mechanical arm planning input effectiveness of information, and add the manipulator motion Forecasting Methodology under visual information deletion condition so that scheme integrality is good and adaptable using binocular camera and trick camera.
Description
Technical field
The present invention relates to a kind of mechanical arm planing method comprising multi-constraint condition, view-based access control model information guidance, belong to empty
Between field operation.
Background technology
The activity of mankind's long campaigns space, it is entirely ineffective or due to satellite that task terminates to be abandoned rest on space into
For space trash, space debris population is continuously increased, and not only jeopardizes the safety of spacecraft in orbit, but also to limited space
Track resources also constitute serious threat.In order to purify orbital environment as far as possible, various countries are being studied with satellite maintenence and too
In-orbit service technology for the purpose of empty rubbish removing.Since space manipulator has, control accuracy is high, flexibility is strong and task
The advantages that adaptable, the active clearance technique based on robotic arm manipulation has become removes the main of discarded satellite and space junk
Means.
Discarded satellite and space junk etc. are eliminated object gesture and not controlled, therefore to solve catching towards moving target
Problem is obtained, it is necessary to carry out mechanical arm motion planning online, (the strange of Jia Qingxuan, Chen Gang, Sun Hanxu, Zheng Shuan is based on A* algorithms for document
Space manipulator obstacle-avoiding route planning mechanical engineering journals, 2010,13) disclose using A* algorithms space manipulator from
Collisionless route searching is carried out by working space, realizes the obstacle-avoiding route planning of space manipulator, is not directed in application
Visual information inputs, and does not construct the constraints between mechanical arm and binocular camera visual field.Document (CN200910073472, space
Robot vision measurement, path planning, GNC integrated simulation systems) in propose a kind of robot for space and track, approach, catch
The autonomous paths planning method of object procedure is obtained, planning space machine is realized using the relative position and attitude measurement value of trick camera
The movement of device people, is not directed to the various constraintss of mechanical arm planning, does not also consider visual information guiding and binocular camera, hand
The mechanical arm planning partition strategy of eye camera switching, it is difficult to meet the mechanical arm of visual information guiding under multi-constraint condition in line gauge
The demand of drawing.
The content of the invention
It is an object of the invention to solve the deficiencies in the prior art, there is provided one kind is suitable for Field of View Constraint, crash restraint
With the mechanical arm planing method of the visual information guiding under the multi-constraint condition such as kinematic constraint, this method uses binocular camera and hand
Eye camera is used as visual sensor, makes full use of the advantages of two class cameras, it is proposed that the mechanical arm of view-based access control model information guidance divides
Duan Yundong and switchover policy, ensure the validity of mechanical arm planning input information, and consider the machine under visual information deletion condition
Tool arm motion forecast method, effective boosting algorithm operation efficiency in turn ensure that the security of robotic arm manipulation.
In order to solve the problems, such as present in background technology, it is suitable for vision under multi-constraint condition the present invention provides one kind and believes
The mechanical arm planing method of guiding is ceased, is included the following steps：
(1) calculating machine arm terminal position, judges the working stage that mechanical arm is presently in, and the working stage includes fast
Quick access proximal segment, search Approach phase and capture section；
(2) capture target location is obtained, and target velocity is calculated with the position；
(3) judge whether to meet contact conditions, if it is, completing to arrest operation, if it is not, then performing step (4)；
(4) judge whether trick camera stablizes capture, if it is, the mechanical arm planning instruction of capture section is performed, if not,
Then perform step (5)；
(5) judge whether mechanical arm enters hazardous area, if meeting hazardous area condition, perform search Approach phase mechanical arm
Planning instruction, if not meeting hazardous area condition, performs the planning instruction of fast approaching section mechanical arm.
The fast approaching section mechanical arm planning instruction includes the following steps：
(1) according to target location and mechanical arm tail end position and posture, calculate relative position deviation and be directed toward deviation, so that
Desired tip speed and angular speed are calculated, calculating Jacobian matrix by matrix inversion obtains the expectation angle speed of six joint angles
Degree；
(2) constrained according to instruction joint angular speed and angular speed, angular acceleration, adjust desired joint angular speed, calculated
Cubic polynomial coefficient.
The planning instruction of described search Approach phase mechanical arm includes the following steps：
(1) optimal cost functional value is initialized, one group of joint angle is generated at random, random joint angle feasibility is sentenced
It is disconnected, judge whether to reach maximum search number；
(2) constrained according to instruction joint angular speed and angular speed, angular acceleration, adjust desired joint angular speed, calculated
Cubic polynomial coefficient.
The capture section mechanical arm planning instruction includes the following steps：
(1) according to objective position and mechanical arm tail end position and posture, calculate relative position deviation and be directed toward deviation,
So as to calculate desired tip speed and angular speed, Jacobian matrix is calculated by matrix inversion and obtains the expectation of six joint angles
Angular speed；
(2) constrained according to instruction joint angular speed and angular speed, angular acceleration, adjust desired joint angular speed, calculated
Cubic polynomial coefficient.
The position for obtaining capture target location and target being captured by acquisition of vision information, concretely comprises the following steps：
If the residing stage is fast approaching section, binocular camera preferentially is used, trick is used if binocular camera fails
Camera；If the residing stage is search Approach phase, preferentially using binocular camera, trick camera is used if binocular camera fails；
If the residing stage is capture section, trick camera preferentially is used, binocular camera is used if trick camera fails.
Further, when binocular camera, trick camera fail, using prediction algorithm by binocular camera and trick camera
The data preserved before failure carry out linear extrapolation.
The hazardous area judges to include the following steps：
(1) judge whether each joint angle exceedes dangerous border；
(2) if without departing from dangerous border, continue to judge whether mechanical arm collides with body；
(3) if do not collided, continue to judge whether mechanical arm blocks binocular camera visual field；
Further, the dangerous border is 150 °~180 °, the maximum safe distance of mechanical arm and body for 100mm~
300mm, each joint of mechanical arm are 100mm~300mm apart from the minimum range of binocular camera visual field.
The present invention has the advantages that compared with prior art：
(1) using the visual information guiding of segmented and switchover policy, the excellent of binocular camera and trick camera is given full play to
Gesture, and consider the visual information deletion condition being likely to occur in engineer application, pass through visual information fusion treatment, support method
Feasibility and validity, both boosting algorithm operation efficiency in turn ensure that processing safety；
(2) constraint between mechanical arm and binocular camera sight is considered in mechanical arm planning algorithm, effectively prevents mechanical arm
Visual field is blocked in motion process；The spacing constraint of joint angle is added, effectively avoids manipulator motion from exceeding range of motion；Crash
Hit constraint to be detected, so that the security of elevating mechanism arm operation.
Brief description of the drawings
Fig. 1 is view-based access control model information guidance and the mechanical arm planning partition strategy schematic diagram of switching；
Fig. 2 is the manipulator motion Forecasting Methodology schematic diagram under visual information deletion condition；
Fig. 3 is fast approaching section mechanical arm planning algorithm flow chart；
Fig. 4 is search Approach phase mechanical arm planning algorithm flow chart；
Fig. 5 is capture section mechanical arm planning algorithm flow chart；
Fig. 6 is Monte-Carlo method Simulation results statistical chart.
Embodiment
Technical scheme is described in further details with reference to the accompanying drawings and detailed description.Obviously, institute
The embodiment of description is only the part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention,
Those skilled in the art's all other embodiments obtained without making creative work, belonging to the present invention will
Seek the scope of protection.
Consider rapidity and security that space movement target is arrested, online capture section is divided into three phases：Fast quick access
Proximal segment, search Approach phase and capture section, as shown in Figure 1.Wherein, it is double to refer to that mechanical arm passes through for fast approaching section and search Approach phase
Mesh camera approaches to target and makes the process of trick camera capture target；Capture section refers to that trick camera observes that target refers to afterwards
Draw the process of mechanical arm tail end capture target.
Manipulator motion Forecasting Methodology under visual information deletion condition, as shown in Figure 2.It is preferential to use before capturing section
Binocular camera；Capture section starts, and preferentially uses trick camera；When the camera failure preferentially used, using another camera；When two
When set camera fails, target location and speed are estimated using prediction algorithm.
Constrained for binocular camera Field of View Constraint, platform crash restraint and joint hard-over, i.e., hazardous area judges, mainly
Take following measure：
(1) binocular camera sight constrains
The plane for defining 3 points of compositions of target and binocular is sight plane, and mechanical arm is transported in the side of the plane as needed
It is dynamic, choose positioned at manipulator motion side and be d with sight plan range plane be hazardous area border, the region between two planes
For hazardous area.According to the structure of mechanical arm, may determine that by calculating machine shoulder joint and end apart from the distance of sight plane
Whether mechanical arm enters hazardous area.
(2) platform crash restraint
For the barrier on platform, highest component on platform can be selected, fixed auricle establishes obstacle as benchmark
Plane.Certain margin of safety is equally selected to determine hazardous area border, the space between hazardous area border and obstacle plane is
Hazardous area.According to the structure of mechanical arm, can be sentenced by calculating machine shoulder joint and mechanical arm tail end and the distance of obstacle plane
Whether disconnected mechanical arm enters hazardous area.
(3) joint hard-over constrains
Consider the limitation of joint of mechanical arm corner, danger corner border is determined, when a certain joint rotation angle of mechanical arm reaches the side
During dividing value, that is, think to enter hazardous area.
After in manipulator motion to hazardous area, consider that various constrain to target connects using capture section mechanical arm planning instruction
Closely, until trick camera can stablize capture target.
The mechanical arm planning specific method guided suitable for visual information under multi-constraint condition is as follows：
(1) by Mechanical transmission test calculating machine arm terminal position pe,
(2) judge whether current affiliated working stage meets contact conditions, if met, step (7) is performed, if not
Meet, perform step (3)；
(3) comprised the following steps that by visual information using policy calculation target velocity with position：
If (a) the residing stage is fast approaching section, binocular camera preferentially is used, is entered step (b), if binocular camera
Failure then uses trick camera, enters step (c), still fails, enters step (d)；If the residing stage is search Approach phase, excellent
Binocular camera is first used, is entered step (b), trick camera is used if binocular camera fails, enters step (c), still fail
Then enter step (d)；If the residing stage is capture section, trick camera preferentially is used, is entered step (c), if trick camera
Failure then uses binocular camera, enters step (b), still fails, enters step (d)；
(b) target location rt_SV is calculated using binocular camera observation, and with position estimation target velocity vt,The velocity amplitude is write into target velocity estimator Vt, and by nearest target location rt=rt_SV
Add sequence, return to step (4)；
(c) target location rt_HE is calculated using trick camera observation, and by nearest target location calculated value rt=Fe
(1:3,1:3)·rt_HE+Fe(1:3,4) sequence is added, and with position estimation target velocity vt,The velocity amplitude is write into target velocity estimator Vt, return to step (4)；
(d) data preserved before binocular camera and the failure of trick camera are carried out by linear extrapolation using prediction algorithm, returned
Step (4)；
(4) calculate and be directed toward angle of deviation aimangle=acos ([0；0；1] rt/norm (rt)), according to mechanical arm tail end
Judge whether trick camera is steady with target relative distance d ret=rt-pe (rt is target location) and direction angle of deviation aimangle
Fixed capture, if | dret |<Rt_threshold, and aimangle<Aim_threshold, then enter step (5)；Otherwise enter
Step (6)；
(5) judge whether to enter hazardous area, comprise the following steps that：
(e) judge whether each joint angle reaches dangerous border safeangle, if if | Ji|<Safeangle (settings
Safeangle=150 °), then it is assumed that not up to dangerous border, enters step (f)；If if | Ji| >=safeangle, then it is assumed that
Reach dangerous border, perform search Approach phase planning algorithm；
(f) judge whether mechanical arm collides with body：If if | pi(x)|<Safedist (setting safedist=
150mm), then it is assumed that do not collide, then enter step (g)；If if | pi(x) | >=safedist, then it is assumed that collide, hold
Row search Approach phase planning algorithm；
(g) judge whether mechanical arm blocks binocular camera visual field：
Calculate first(i=3,4,5,6, e), if di<
Safedist (setting safedist=150mm), then it is assumed that do not block, perform fast approaching section planning algorithm；Otherwise recognize
To block, search Approach phase planning algorithm is performed；
(6) current time is substituted into cubic polynomial, completes one-time mechanical arm planning instruction group and solve and send to machinery
Arm, performs step (1)-step (2)；
(7) complete to arrest operation, flow terminates.
As shown in figure 3, fast approaching section planning algorithm comprises the following steps that：
(16), according to objective position rt and mechanical arm tail end position pe, relative position deviation DeltaR is calculated：△R
=rt-pe-Fe (1:3,1:3)*[CapPosX；CapPosY；CapPosZ]T；
(17), according to mechanical arm tail end position and attitude matrix Fe and relative position deviation DeltaR, calculate and be directed toward deviation
DeltaPhi：
(18), desired tip speed and angular speed are calculated：Wherein △ R=[DeltaRX,
DeltaRY,DeltaRZ]T；
(19), the inverse JmInv of Jacobian matrix Jm is calculated by matrix inversion；
(20), according to ved, wed and JmInv, the expectation angular speed of six joint angles of calculating：
(21), constrained according to instruction joint angular speed DCJ1~DCJ6 and angular speed, angular acceleration, adjust desired joint
Angular speed DCJ1~DCJ6；
(22), according to desired joint angular speed DCJ1~DCJ6, computations joint angle CJ1~CJ6；
(23), the instruction angular speed DJ1~DJ6 and instruction joint angle CJ1~CJ6, instruction angle stored according to last moment
Speed DCJ1-DCJ6, calculates cubic polynomial coefficient ai3~ai0, i=1~6, return to step (6)；
As shown in figure 4, search Approach phase planning algorithm comprises the following steps that：
(24), optimal cost functional value is set to 0xFFFFFFFF, and optimal joint angle BJ1~BJ6 is set to current joint
Angle J1~J6；
(25), one group of joint angle RJ1~RJ6 is generated at random；
(26), according to current joint angle J1~J6 and joint angle RJ1~RJ6 of generation, desired joint angular speed is calculated
DCJ1~DCJ6；
(27), joint angle speed DCJ1~DCJ6 it is expected according to maximum angular rate and angular acceleration constraint adjustment；
(28), according to joint angular speed DCJ1~DCJ6, random joint angle RJ1~RJ6 is recalculated；
(29), judge whether each joint angle is feasible according to the method for step (5)；
(30) if, it is feasible, calculate cost function value, enter step (31)；If infeasible, enter step (32)；
(31), compare whether cost function value TempVal is less than current optimal cost functional value BestVal, if so, then will
Optimal cost functional value is set to current cost functional value, and optimal joint angle BJ1~BJ6 is set to current random joint angle RJ1
~RJ6；If it is not, enter step (32)；
(32), judge whether that arrival maximum search number SearchNum (can be according to hardware process speed in 30~300
Selection), if reaching, enter step (33)；If not reaching, step (25) is back to；
(33), using optimal joint angle BJ1~BJ6 and current joint angle J1~J6 calculate each joint angular speed DCJ1~
DCJ6, and joint angle speed DCJ1~DCJ6 it is expected according to maximum angular rate and angular acceleration adjustment；
(34), according to desired joint angular speed DCJ1~DCJ6, computations joint angle CJ1~CJ6；
(35), the instruction angular speed DJ1~DJ6 and instruction joint angle CJ1~CJ6, instruction angle stored according to last moment
Speed DCJ1-DCJ6, calculates cubic polynomial coefficient ai3~ai0, i=1~6, return to step (6)；
As shown in figure 5, capture section planning algorithm comprises the following steps that：
(36), according to objective position rt and mechanical arm tail end position pe, relative position deviation DeltaR is calculated：△R
=rt-pe-Fe (1:3,1:3)*[CapPosX；CapPosY；CapPosZ]T；
(37), according to mechanical arm tail end position and attitude matrix Fe and relative position deviation DeltaR, calculate and be directed toward deviation：
DeltaPhi：
(38), desired tip speed and angular speed are calculated：Wherein △ R=[DeltaRX,
DeltaRY,DeltaRZ]T；
(39), the inverse JmInv of Jacobian matrix Jm is calculated by matrix inversion；
(40), according to ved, wed and JmInv, the expectation angular speed of six joint angles of calculating：
(41), constrained according to instruction joint angular speed DCJ1~DCJ6 and angular speed, angular acceleration, adjust desired joint
Angular speed DCJ1~DCJ6；
(42), the instruction angular speed DJ1~DJ6 and instruction joint angle CJ1~CJ6, instruction angle stored according to last moment
Speed DCJ1-DCJ6, calculates cubic polynomial coefficient ai3~ai0, i=1~6, return to step (6).
It is illustrated in figure 6 Monte-Carlo method Simulation results statistical chart.To verify mechanical arm planning proposed in this paper
The validity of method, has built and has arrested Reliablility simulation system, consider mechanical arm control error, visual detection error and
Visual information postpones, and using Monte-Carlo method method, carries out validity and reliability demonstration.2000 emulation of operation, through counting,
It is 99.95% to arrest success rate, demonstrates the feasibility and validity of this method.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications to these embodiments will be readily apparent to persons skilled in the art, as defined herein general former
Reason can be realized in other embodiments without departing from the present invention.Therefore, the present invention is not intended to be limited to
The embodiments shown herein, and it is to fit to the widest range consistent with the principles and novel features disclosed herein.
Claims (8)
1. a kind of be suitable for the mechanical arm planing method that visual information guides under multi-constraint condition, it is characterised in that including as follows
Step：
(1) calculating machine arm terminal position, judges the working stage that mechanical arm is presently in, and the working stage includes fast quick access
Proximal segment, search Approach phase and capture section；
(2) capture target location is obtained, and target velocity is calculated with the position；
(3) judge whether to meet contact conditions, if it is, completing to arrest operation, if it is not, then performing step (4)；
(4) judge whether trick camera stablizes capture, if it is, the mechanical arm planning instruction of capture section is performed, if it is not, then holding
Row step (5)；
(5) judge whether mechanical arm enters hazardous area, if meeting hazardous area condition, perform the mechanical arm planning of search Approach phase
Instruction, if not meeting hazardous area condition, performs the planning instruction of fast approaching section mechanical arm.
2. a kind of mechanical arm planing method for being suitable for visual information guiding under multi-constraint condition according to claim 1,
It is characterized in that, the fast approaching section mechanical arm planning instruction includes the following steps：
(1) according to target location and mechanical arm tail end position and posture, calculate relative position deviation and be directed toward deviation, so as to calculate
Desired tip speed and joint angular speed, calculate Jacobian matrix by matrix inversion and obtain desired joint angular speed；
(2) constrained according to instruction joint angular speed and joint angular speed constraint, joint angular acceleration, adjust desired joint angle speed
Degree, calculates cubic polynomial coefficient.
3. a kind of mechanical arm planing method for being suitable for visual information guiding under multi-constraint condition according to claim 1,
It is characterized in that, the planning instruction of described search Approach phase mechanical arm includes the following steps：
(1) optimal cost functional value is initialized, one group of joint angle is generated at random, random joint angle feasibility is judged, is sentenced
It is disconnected whether to reach maximum search number；
(2) constrained according to instruction joint angular speed and joint angular speed constraint, joint angular acceleration, adjust desired joint angle speed
Degree, calculates cubic polynomial coefficient.
4. a kind of mechanical arm planing method for being suitable for visual information guiding under multi-constraint condition according to claim 1,
It is characterized in that, the capture section mechanical arm planning instruction includes the following steps：
(1) according to objective position and mechanical arm tail end position and posture, relative position deviation is calculated, so as to calculate desired
Tip speed and joint angular speed, calculate Jacobian matrix by matrix inversion and obtain desired joint angular speed；
(2) constrained according to instruction joint angular speed and joint angular speed constraint, joint angular acceleration, adjust desired joint angle speed
Degree, calculates cubic polynomial coefficient.
5. a kind of mechanical arm planing method for being suitable for visual information guiding under multi-constraint condition according to claim 1,
It is characterized in that, the step (2) captures the position of target by acquisition of vision information, concretely comprise the following steps：
If the residing stage is fast approaching section, binocular camera preferentially is used, trick camera is used if binocular camera fails；
If the residing stage is search Approach phase, preferentially using binocular camera, trick camera is used if binocular camera fails；It is if residing
Stage is capture section, then preferentially uses trick camera, and binocular camera is used if trick camera fails.
6. a kind of mechanical arm planing method for being suitable for visual information guiding under multi-constraint condition according to claim 5,
It is characterized in that, when binocular camera, trick camera fail, using prediction algorithm by before binocular camera and the failure of trick camera
The data of preservation carry out linear extrapolation.
7. a kind of mechanical arm planing method for being suitable for visual information guiding under multi-constraint condition according to claim 1,
It is characterized in that, the hazardous area judges to include the following steps：
(1) judge whether each joint angle exceedes dangerous border；
(2) if without departing from dangerous border, continue to judge whether mechanical arm collides with body；
(3) if do not collided, continue to judge whether mechanical arm blocks binocular camera visual field.
8. a kind of mechanical arm planing method for being suitable for visual information guiding under multi-constraint condition according to claim 7,
It is characterized in that, the danger border is 150 °~180 °, the maximum safe distance of mechanical arm and body is 100mm~300mm,
Each joint of mechanical arm is 100mm~300mm apart from the minimum range of binocular camera visual field.
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| CN108015764B (en) * | 2017-11-20 | 2020-07-14 | 中国运载火箭技术研究院 | Spatial zero prior target capturing method based on multi-source visual information fusion |
| CN114833836B (en) * | 2022-07-06 | 2022-09-20 | 珞石（北京）科技有限公司 | Efficient time optimal trajectory online generation method |
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