Seven-degree-of-freedom space manipulator automatic obstacle avoiding planning method

• Main Authors: RAO WEIDONG, LIANG JINGJING, LI FEI, LIU RUI, LIU ZHONGHAN, NING YU, XIAO SHUAI
• Format: Patent
• Language: Chinese; English
• Published: 12.10.2018
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a seven-degree-of-freedom space manipulator automatic obstacle avoiding planning method. The tail end of a seven-degree-of-freedom space manipulator is subjected to path planning in a task space at first, and tail end motion path point data are obtained; then the tail end motion path point data are selected sequentially, any redundant joint angle is fixed for inverse kinematics calculation, and angles of other joints corresponding to the current tail end motion path point data are obtained; and finally, the obtained angles of all the joints corresponding to the currenttail end motion path point data are subjected to collision detection, and by conducting adaptive adjustment on the fixed joint angle, an automatic obstacle avoiding plan of the seven-degree-of-freedomspace manipulator corresponding to all the tail end motion path point data is obtained. 种七自由度空间机械臂自主避障规划方法，首先在任务空间对七自由度空间机械臂的末端进行路径规划，得到末端的运动路径点数据，然后依次选取末端的运动路径点数据，固定任冗余关节角度进行逆运动学计算，得到当前末端的运动路径点数据对应的其它关节的角度，最后对得到的当前末端的运动路径点数据