Finite time planning method for cooperated repeated motion of double arm manipulator

The invention relates to a finite time planning method for a cooperated repeated motion of a double arm manipulator. The method comprises the following steps: 1) determining expected target tracks ofleft and right end executors of a double arm manipulator and angular expected folding angles of joint...

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Bibliographic Details
Main Authors GAO CHANG, ZHENG ZHIJUN, KONG YING, ZHOU JUNWEN, TANG QINGQING, YE LYU, HU TANGLONG
Format Patent
LanguageChinese
English
Published 17.01.2020
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention relates to a finite time planning method for a cooperated repeated motion of a double arm manipulator. The method comprises the following steps: 1) determining expected target tracks ofleft and right end executors of a double arm manipulator and angular expected folding angles of joints of the double arm manipulator; 2) designing a secondary optimization index to form a double arm manipulator cooperated repeated motion planning scheme, wherein an initial joint angle of the double arm manipulator in action motion can be appointed randomly; 3) introducing an initial correcting factor to construct a final state network model converged by a finite time and solving a time varying problem by means of a network equation; and 4) sending a calculated result to a controller to controlthe cooperated repeated motion of the double arm manipulator. The method is relatively high in precision and converges at the appointed time. When the initial positions of the joint angles of the left and right arms deviate f
Bibliography:Application Number: CN201910948514