Sectional type dynamic obstacle avoidance method for super-redundant mechanical arm

• Main Authors: JU RENJIE, CAO ZHENGCAI, ZHANG DONG
• Format: Patent
• Language: Chinese; English
• Published: 21.04.2023
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a sectional type dynamic obstacle avoidance method for a super-redundant mechanical arm. The method comprises the following steps: firstly, aiming at mechanical arm state information in a scene and observed obstacle information, establishing a dynamic obstacle early warning area taking a mechanical arm as a center; secondly, when an obstacle enters the monitoring range of the area, a collision risk assessment model is constructed based on a speed obstacle strategy, and the collision possibility between the mechanical arm and the obstacle is assessed in real time; thirdly, if the collision risk exists, the mechanical arm is divided into a plurality of obstacle avoidance areas according to obstacle information, local obstacle avoidance speed constraint, joint limiting constraint and connecting rod length constraint are constructed, and a safety speed set of all joints of the mechanical arm is solved; and finally, the pose of the mechanical arm is updated in real time through a forward an