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WO2018107851A1 - Procédé et dispositif de commande de bras de robot redondant - Google Patents

Procédé et dispositif de commande de bras de robot redondant Download PDF

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Publication number
WO2018107851A1
WO2018107851A1 PCT/CN2017/103286 CN2017103286W WO2018107851A1 WO 2018107851 A1 WO2018107851 A1 WO 2018107851A1 CN 2017103286 W CN2017103286 W CN 2017103286W WO 2018107851 A1 WO2018107851 A1 WO 2018107851A1
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Prior art keywords
redundant
trajectory
robot arm
mechanical arm
joint
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PCT/CN2017/103286
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English (en)
Chinese (zh)
Inventor
阳方平
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Guangzhou Shiyuan Electronics Thecnology Co Ltd
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Guangzhou Shiyuan Electronics Thecnology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Definitions

  • the present invention relates to the field of robot technology, and in particular, to a control method and apparatus for a redundant mechanical arm.
  • the redundant manipulator When the redundant manipulator performs a Cartesian space-specific task, there is an infinite group solution in the joint space.
  • a set of optimal solutions can be selected according to the optimization index such as joint speed, joint torque or obstacle distance to determine the redundant machine. The movement of the arm.
  • the methods commonly used for multi-objective optimization can be classified into a weighted function method and a Pareto frontier method.
  • the weighting function method can use the weighting coefficient to weight the optimization target to transform the multi-objective optimization problem into a single-objective optimization problem, it is difficult to judge the influence of the weighting coefficient change on the optimization result.
  • an embodiment of the present invention provides a control method and apparatus for a redundant mechanical arm to solve
  • the multi-objective solving method in the prior art calculates a complicated technical problem with complicated steps.
  • an embodiment of the present invention provides a method for controlling a redundant mechanical arm, including:
  • the equation corresponding to the trajectory function is solved according to the target approaching method, and the position and velocity of each joint in the redundant mechanical arm corresponding to the motion trajectory are obtained.
  • an embodiment of the present invention further provides a control device for a redundant mechanical arm, including:
  • An information acquiring unit configured to acquire current point information and target point information where the redundant robot arm is located;
  • a trajectory unit configured to be connected to the information acquiring unit, configured to determine, according to the current point information and the target point information, a trajectory function corresponding to a motion trajectory of the redundant mechanical arm moving from a current point to a target point;
  • a redundancy processing unit connected to the trajectory unit, configured to establish an equation corresponding to the trajectory function by using a redundancy space vector as an independent variable; and solving an equation corresponding to the trajectory function according to a target approach method, to obtain the motion The position and velocity of each joint in the redundant robot arm corresponding to the trajectory.
  • the technical solution for controlling the redundant mechanical arm obtained by the embodiment of the present invention obtains current point information and target point information of the redundant mechanical arm, and determines that the redundant mechanical arm moves from the current point to the current point information and the target point information.
  • the trajectory function corresponding to the motion trajectory of the target point is constructed by using the redundancy space vector as the independent variable, and the equation is solved by the target approach method to obtain the position of each joint in the redundant mechanical arm corresponding to the motion trajectory. speed.
  • FIG. 1 is a schematic flow chart of a method for controlling a redundant mechanical arm according to Embodiment 1 of the present invention
  • FIG. 2 is a schematic flow chart of a method for controlling a redundant mechanical arm according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic diagram of a coordinate system of a nine-degree-of-freedom redundant robot arm according to Embodiment 2 of the present invention.
  • FIG. 4 is a structural block diagram of a control device for a redundant mechanical arm according to Embodiment 3 of the present invention.
  • Embodiment 1 of the present invention provides a control method for a redundant mechanical arm.
  • the method can be performed by a control device of a redundant robot arm, wherein the device can be implemented by hardware and/or software, and can generally be integrated in a control module for controlling the robot.
  • 1 is a schematic flow chart of a method for controlling a redundant mechanical arm according to Embodiment 1 of the present invention. As shown in FIG. 1, the method includes:
  • the current point information and the target point information of the redundant robot arm may be redundant mechanical arm ends.
  • the current point information and the target point information of the terminal may also be the current point information and the target point information of the joints of the redundant robot arm, which are not limited herein.
  • the current point information of the redundant robot arm may include current point information of the end of the arm and current point information of each joint of the redundant manipulator, target point information Target point information at the end of the robot arm can be included.
  • the current point information (target point information) may include information such as position coordinates, angular coordinates, linear velocity, angular velocity, linear acceleration, and/or angular acceleration of the end of the arm or the joint of the robot arm at the current (target) position.
  • the current point information of the redundant manipulator can be obtained directly by the sensor or by using the calculation result of the last moment as the current point information of the redundant manipulator;
  • the target point information of the redundant manipulator can be calculated according to the current point information of the end of the redundant manipulator and the motion track information of the end of the redundant manipulator.
  • the current point information as the angular coordinate, angular velocity and angular acceleration as an example
  • the angular information and angular velocity information of a joint of the redundant mechanical arm at the current position can be obtained by an encoder installed at the joint position, and the angular acceleration information can be differentiated. The operation is obtained; or, the target point information of each joint of the robot arm calculated at the previous time can be directly used as the current point information of each joint of the robot arm at the current time.
  • the trajectory function corresponding to the motion trajectory of the redundant mechanical arm moving from the current point to the target point may include a trajectory corresponding to each joint motion trajectory of the redundant mechanical arm when the end of the redundant mechanical arm moves from the current point to the target point.
  • the trajectory function of each joint of the redundant manipulator can be one or more, that is, the trajectory function corresponding to each joint motion trajectory of the redundant manipulator can be described as a whole by a total trajectory function, or can be used for each joint
  • the motion trajectory is described in the form of one or several trajectory functions.
  • the trajectory function corresponding to the motion trajectory of each joint of the redundant manipulator may include an equation and/or an inequality.
  • the trajectory function of a joint of the redundant manipulator may include the position coordinates of the joint
  • the correspondence between speed and/or acceleration and other variables may also include coordinates of the joint position, moving speed, and/or moving angular velocity when the redundant manipulator moves normally.
  • the range of values, etc., is not limited here.
  • the trajectory function of the end of the redundant mechanical arm may be first determined according to the current point information and the target point information at the end of the redundant mechanical arm. Then, according to the connection relationship between the end of the redundant manipulator and each joint, the relationship between the motion path of each joint and the motion track of the end of the redundant manipulator is determined, and then the redundant robot arm is determined according to the trajectory function of the end of the redundant manipulator. Trajectory function.
  • the correspondence between the redundancy vector and the coordinates of each joint position, speed, or acceleration may be first determined, and then the position vector, speed, or position in the trajectory function corresponding to each joint is replaced by the redundancy space vector according to the correspondence. Acceleration and other independent variables, and then establish the equation corresponding to the trajectory function of each joint of the redundant manipulator with the redundancy space vector as the independent variable.
  • the redundancy space vector may be any vector of the redundancy vector space, and the redundancy vector space may be an existing vector space or a custom space, which is not limited herein.
  • the acceleration of each joint of the redundant mechanical arm can be further determined as needed.
  • all solutions of the equation can be obtained, and then a set of solutions of the equations can be obtained according to actual needs or according to the set selection rules.
  • the target position of the joint at the next moment At the same time, the moving speed and acceleration of the joint when moving from the current position to the target position are determined.
  • a set of solutions of the equation can be arbitrarily obtained and the target position of the joint at the next moment is obtained by the set of solutions and moved from the current position to The moving speed and acceleration of the target position; first, the constraint condition of the equation solution can be set first, then the solution of the equation that satisfies the constraint condition is obtained, and the movement process of the joint from the current time to the next moment is guided by the set of solutions, There are no restrictions.
  • the control method of the redundant mechanical arm acquires current point information and target point information of the redundant mechanical arm, and determines that the redundant mechanical arm moves from the current point to the current point information and the target point information.
  • the trajectory function corresponding to the motion trajectory of the target point is constructed by using the redundancy space vector as the independent variable, and the equation is solved by the target approach method to obtain the position of each joint in the redundant mechanical arm corresponding to the motion trajectory. speed.
  • the present embodiment can reduce the search space of the multi-objective optimization problem of the redundant manipulator under the premise of satisfying the global optimal solution of the design target, and avoid the occurrence of the dimensional explosion problem in the multi-objective solution process, simplifying The amount of calculation required during the redundant manipulator control process increases the reaction speed of the redundant manipulator.
  • the acquiring the current point information and the target point information where the redundant mechanical arm is located includes: acquiring the speed of the end of the redundant mechanical arm at the target point; According to the speed of the end of the redundant manipulator at the target current point, the joint of the redundant manipulator The angular, joint angular velocity and joint angular acceleration are mapped to the redundancy space.
  • the determining, according to the current point information and the target point information, a trajectory function corresponding to a motion trajectory of the redundant robot arm moving from a current point to a target point comprises: determining the redundancy according to an inverse kinematics equation The optimization objective function and constraints corresponding to the motion trajectory of the remaining manipulator moving from the current point to the target point.
  • the solving the equation corresponding to the trajectory function according to the target approaching method, and obtaining the position and velocity of each joint in the redundant mechanical arm corresponding to the motion trajectory includes: in the redundancy space, according to the optimization target a function, a minimum target value corresponding to the optimization target, a corresponding constraint condition, and a preset weighting coefficient, and an equation corresponding to the trajectory function is solved by an auxiliary vector and a single target optimization algorithm to obtain the redundancy corresponding to the motion trajectory The position and speed of the joints in the robot arm.
  • control method of the redundant mechanical arm includes:
  • the obtaining the speed of the end of the redundant mechanical arm at the current point comprises: according to the posture of the redundant mechanical arm end at the current point and the movement of the redundant mechanical arm end
  • the pose of the next sample point in the trajectory determines the velocity of the end of the redundant robot arm at the next sample point.
  • the position of the end of the redundant manipulator refers to the position and posture of the redundant manipulator.
  • the position can be represented by position coordinates, and the posture can be expressed by angle.
  • information such as the angular velocity and/or angular acceleration of the redundant manipulator at the current point can be obtained from an encoder installed at the end of the redundant manipulator, or directly based on the calculation result of the redundant manipulator at the previous moment.
  • the relationship between the end speed of the redundant manipulator and the joint angular velocity of the redundant manipulator ie, the trajectory function of each joint of the redundant manipulator with angular velocity as an independent variable
  • N the degree of freedom of the redundant manipulator
  • N 6+r, r>1
  • J ⁇ R 6 ⁇ N is the Jacobian matrix.
  • equation (1) can be rewritten as:
  • Redundant manipulator joint angular acceleration The expression for the redundancy space vector k is:
  • ⁇ 0 is the joint angle of the previous moment
  • ⁇ t is the sampling step size
  • the optimization objective function and the constraint condition corresponding to the motion trajectory of the redundant mechanical arm moving from the current point to the target point can be flexibly set according to requirements, for example, the range of the redundant mechanical arm movement can be restricted to avoid Obstacle, or limit the bending angle of the redundant manipulator to avoid the joints reaching their motion limits.
  • the optimization objective function includes a minimum joint motion amplitude of the redundant mechanical arm or the redundant mechanical arm is minimally affected by a corresponding gear gap;
  • the constraint condition includes : constraining the joint speed of the redundant mechanical arm within a preset speed range or constraining the joint angle of the redundant mechanical arm within a preset angular range.
  • the optimal objective function for the minimum joint motion of the redundant manipulator can be:
  • the optimal objective function for the redundant manipulator to be minimally affected by the corresponding gear clearance can be:
  • the constraint that constrains the joint speed of the redundant manipulator to a preset speed range may be:
  • the constraint that constrains the joint angle of the redundant manipulator within a predetermined range of angles may be: ⁇ min ⁇ ⁇ ⁇ ⁇ max .
  • the optimization objective function and the constraint equation of the redundant robot arm trajectory can be established based on the redundancy space, and the optimization objective function and the constraint equation of the redundant mechanical arm can be expressed as joint angle, joint angular velocity and/or
  • the joint angular acceleration is an expression of the independent variable. Therefore, by substituting the above equations (7), (8), and (9) into the expression, the optimal objective function and the constraint equation with the redundant space vector k as the independent variable can be obtained.
  • an optimization objective function with minimal joint motion amplitude can be further expressed as an equation for the redundancy space vector k:
  • the optimization objective function with respect to the minimum influence of the mechanical arm on the corresponding gear gap can be further expressed as the equation of the redundancy space vector k:
  • the constraint on the joint angular velocity limit can be further expressed as an equation with the redundant space vector k as an independent variable:
  • the constraint on the joint angle limit can be further expressed as an equation with the redundancy space vector k as an independent variable:
  • the single-objective optimization algorithm for solving the equation corresponding to the trajectory function can be flexibly determined according to needs, and is not limited herein.
  • the single target optimization algorithm comprises: a Newton-Eulerian algorithm, a Nelder-Mead simplex algorithm, an interior point algorithm, a genetic algorithm and/or a Pattern Search algorithm.
  • the Pareto frontier is a solution set for multi-objective optimization problems, which is defined as follows: On the multi-objective feasible domain ⁇ , there is a point x * ⁇ ⁇ , if there is no point x ⁇ ⁇ , so that f(x) ⁇ f(x * ) is established, and there is at least a point x' ⁇ ⁇ such that the strict inequality f(x') > f(x * ) holds, then x * is a Pareto optimal solution.
  • the equation corresponding to the trajectory function is as follows:
  • A is a matrix constraint condition
  • b is a vector constraint condition
  • ⁇ is a weighting coefficient vector
  • ⁇ is an auxiliary vector.
  • the weighting coefficient vector ⁇ can be set by the user or the developer as needed, and the auxiliary vector ⁇ is used to convert the original multi-objective optimization into a single-objective optimization problem.
  • the inner point method can be used to solve the equation (12) to obtain the optimal solution of the equation, and then the joints of the redundant mechanical arm and the optimal solution are obtained by the equations (7), (8) and (9). Corresponding angles, angular velocities, and angular angular velocities, resulting in the position and velocity of the joints of the redundant manipulator at the next moment.
  • the wrist coordinate system can be defined according to the structural characteristics of the redundant mechanical arm.
  • the specific coordinates and direction of the wrist coordinate system can be flexibly set according to requirements, which is not limited herein.
  • the wrist coordinate system can be defined as a coordinate system parallel to the coordinate end system of the redundant manipulator and the origin coincides with the origin of the coordinate system of the connecting rod 8.
  • 3 ⁇ w is the angular velocity in the wrist coordinate system with reference to the coordinate system of the connecting rod 3;
  • 3 ⁇ h is the angular velocity in the coordinate system of the redundant manipulator referenced by the coordinate system of the connecting rod 3;
  • 3 v w The linear velocity in the wrist coordinate system with reference to the coordinate system of the connecting rod 3;
  • 3 v h is the linear velocity in the coordinate system of the redundant manipulator referenced by the coordinate system of the connecting rod 3;
  • 3 x h is the connection
  • the rod 3 coordinate system is the value of the unit vector of the Z direction in the redundant robot arm end coordinate system of the reference:
  • c i represents cos( ⁇ i )
  • s i represents sin( ⁇ i )
  • c ij represents cos( ⁇ i + ⁇ j )
  • s ij represents sin( ⁇ i + ⁇ j ).
  • J w is the joint angular velocity Speed with wrist
  • the Jacques matrix has:
  • the Jacobian matrix can be found by the vector product method as follows:
  • any three columns in the equation (19) may be taken as ⁇ , and J * is the remaining columns other than the three columns constituting ⁇ .
  • J 5 , J 6 and J 7 are taken as ⁇ , and the remaining columns (J 1 , J 2 , J 3 , J 4 , J 8 and J 9 ) constitute J * , and can be obtained by the formula (5):
  • J 21 a 2 s 3 - d 6 c 5 - d 4 - a 5 s 5 - d 7 c 5 c 7 + d 7 s 5 c 6 s 7 ,
  • J 23 a 2 c 3 + a 4 c 4 + a 5 c 4 c 5 - d 6 c 4 s 5 - d 7 c 4 s 5 c 7 + d 7 s 4 s 6 s 7 -d 7 c 4 c 5 c 6 s 7 ,
  • J 31 -d 4 -d 7 (c 5 c 7 -s 5 c 6 s 7 )-d 6 c 5 -a 5 s 5 ,
  • J 33 a 4 c 4 + d 7 (s 7 (s 4 s 6 -c 4 c 5 c 6 )-c 4 s 5 c 7 )+a 5 c 4 c 5 -d 6 c 4 s 3 ,
  • J 41 d 7 (s 7 (c 4 s 6 +s 4 c 5 c 6 )+s 4 s 5 c 7 )-a 4 s 4 -a 5 s 4 c 5 +d 6 s 4 s 5 ,
  • J 42 d 7 (s 7 (s 4 s 6 -c 4 c 5 c 6 )-c 4 s 5 c 7 )+a 4 c 4 +a 5 c 4 c 5 -d 6 c 4 s 5 ,
  • J 84 s 7 (s 4 s 6 -c 4 c 5 c 6) -c 4 s 5 c 7,
  • J 85 -s 7 (c 4 s 6 + s 4 c 5 c 6) -s 4 s 5 c 7,
  • J 94 c 8 (s 4 c 6 +c 4 c 5 s 6 )-s 8 (c 7 (s 4 s 6 -c 4 c 5 c 6 ))+c 4 s 5 s 7 ,
  • J 95 s 8 (c 7 (s 4 s 6 +s 4 c 5 c 6 ))-s 4 s 5 s 7 -c 8 (c 4 c 6 -s 4 c 5 s 6 ),
  • J 96 s 8 (c 5 s 7 - s 5 c 6 c 7 ) + c 8 s 5 s 6 .
  • Matrix The ith element.
  • the joint angle ⁇ can be obtained as a function of the redundancy vector (k 5 , k 6 , k 7 ) as an independent variable:
  • ⁇ 0 is the current joint angle and ⁇ t is the sampling step size.
  • H i ( ⁇ (k 5 , k 6 , k 7 )) is the element corresponding to the second row and the fourth column of the link transformation matrix 0 T i ( ⁇ (k 5 , k 6 , k 7 )):
  • d i , ⁇ i and a i are Denavit-Hartenberg parameters, and specific values thereof are shown in Table 1.
  • the control method of the redundant mechanical arm obtaineds the speed of the end of the redundant mechanical arm at the target point, and the joint angle, the joint angular velocity of the redundant mechanical arm and the speed of the end of the redundant mechanical arm at the target point
  • the joint angular acceleration is mapped to the redundancy space.
  • the optimal objective function and constraints corresponding to the motion trajectory of the redundant manipulator moving from the current point to the target point are determined, and the redundant space vector is used as the independent variable to establish the motion.
  • the equation corresponding to the trajectory is solved by the auxiliary vector and the single-objective optimization algorithm to solve the equation corresponding to the trajectory function, and the position and velocity of each joint in the redundant mechanical arm corresponding to the motion trajectory are obtained.
  • a mathematical module for multi-objective constrained optimization problem is established, which can provide a theoretical basis for solving a multi-objective optimization problem, and reduce redundant manipulators under the premise of satisfying the global optimal solution of the design target.
  • the search space of the target optimization problem avoids the occurrence of dimensional explosion problems in the multi-objective solution process, simplifies the calculation amount required in the redundant robot arm control process, and improves the reaction speed of the redundant mechanical arm.
  • Embodiment 3 of the present invention provides a control device for a redundant mechanical arm.
  • the device can be implemented by hardware and/or software, generally integrated in a control module for controlling the robot, and the control of the redundant manipulator can be realized by performing a control method of the redundant manipulator.
  • 4 is a structural block diagram of a control device for a redundant mechanical arm according to the embodiment. As shown in FIG. 4, the device includes:
  • the information acquiring unit 410 is configured to acquire current point information and target point information where the redundant robot arm is located;
  • the trajectory unit 420 is connected to the information acquiring unit, and configured to determine, according to the current point information and the target point information, a trajectory function corresponding to a motion trajectory of the redundant mechanical arm moving from a current point to a target point;
  • the redundancy processing unit 430 is connected to the trajectory unit, and is configured to establish an equation corresponding to the trajectory function by using a redundancy space vector as an independent variable; and solving an equation corresponding to the trajectory function according to a target proximity method, to obtain the The position and velocity of each joint in the redundant robot arm corresponding to the motion trajectory.
  • the control device of the redundant mechanical arm obtained by the third embodiment of the present invention obtains the current point information and the target point information of the redundant mechanical arm through the information acquiring unit, and determines the redundancy according to the acquired current point information and the target point information by the trajectory unit.
  • the trajectory function corresponding to the motion trajectory of the robot arm moving from the current point to the target point is established by the redundancy processing unit with the redundancy space vector as the independent variable, and the equation is solved by the target approach method to obtain the motion.
  • the position and velocity of each joint in the redundant robot arm corresponding to the trajectory.
  • the embodiment of the present invention can reduce the search space of the multi-objective optimization problem of the redundant manipulator under the premise of obtaining the global optimal solution satisfying the design goal, and avoid the occurrence of the dimensional explosion problem in the multi-objective solution process. Simplify the amount of calculations required during redundant manipulator control and increase the response speed of redundant manipulators.
  • the information acquiring unit 410 is specifically configured to: acquire a speed of the end of the redundant mechanical arm at the target point; and the redundant machine according to a speed of the redundant mechanical arm end at the target point
  • the joint angle of the arm, the joint angular velocity, and the joint angular acceleration are mapped to the redundancy space.
  • the acquiring the speed of the end of the redundant mechanical arm at the current point comprises: according to the posture of the redundant mechanical arm end at the current point and the end of the redundant mechanical arm The pose of the next sample point in the trajectory determines the velocity of the end of the redundant robot arm at the next sample point.
  • trajectory unit 420 is specifically configured to determine an optimization objective function and a constraint condition corresponding to a motion trajectory of the redundant mechanical arm moving from a current point to a target point according to an inverse kinematics equation.
  • the optimization objective function includes a minimum joint motion amplitude of the redundant mechanical arm or the redundant mechanical arm is minimally affected by a corresponding gear gap;
  • the constraint condition includes: a joint of the redundant mechanical arm The speed constraint is within a preset speed range or the joint angle of the redundant robot arm is constrained within a preset angle range.
  • the solving the equation corresponding to the trajectory function according to the target approaching method, and obtaining the position and velocity of each joint in the redundant mechanical arm corresponding to the motion trajectory includes: in the redundancy space, according to the optimization target a function, a minimum target value corresponding to the optimization target, a corresponding constraint condition, and a preset weighting coefficient, and an equation corresponding to the trajectory function is solved by an auxiliary vector and a single target optimization algorithm to obtain the redundancy corresponding to the motion trajectory The position and speed of the joints in the robot arm.
  • the single target optimization algorithm includes: a Newton-Eulerian algorithm, a Nelder-Mead simplex algorithm, an interior point algorithm, a genetic algorithm, and/or a Pattern Search algorithm.
  • the control device of the redundant mechanical arm provided by this embodiment can execute the control method of the redundant mechanical arm provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the control method for executing the redundant mechanical arm.
  • control method of the redundant robot arm provided by any embodiment of the present invention.

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Abstract

L'invention concerne un procédé et un dispositif de commande d'un bras de robot redondant. Le procédé comprend : l'acquisition d'informations concernant un point actuel où un bras de robot redondant est situé et des informations concernant un point cible ; en fonction des informations sur le point actuel et des informations sur le point cible, la détermination d'une fonction de trajectoire correspondant à une trajectoire de mouvement du bras de robot redondant se déplaçant du point actuel au point cible ; l'établissement d'une équation correspondant à la fonction de trajectoire à l'aide d'un vecteur spatial de redondance en tant que variable indépendante ; la résolution de l'équation correspondant à la fonction de trajectoire selon un procédé d'approche objective, afin d'obtenir la position et la vitesse de chaque articulation dans le bras de robot redondant correspondant à la trajectoire de mouvement. Au moyen de la solution technique, sur la base de l'obtention d'une solution globale optimale satisfaisant à un objectif de conception, l'espace de recherche pour un problème d'optimisation à objectifs multiples d'un bras de robot redondant peut être réduit, l'apparition d'une explosion de dimension dans un processus de solution à objectifs multiples peut être évitée, le calcul requis dans un processus de commande de bras de robot redondant peut être simplifié, et la vitesse de réaction du bras de robot redondant peut être améliorée.
PCT/CN2017/103286 2016-12-16 2017-09-25 Procédé et dispositif de commande de bras de robot redondant Ceased WO2018107851A1 (fr)

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