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CN-117207172-B - Redundant mechanical arm position adjustment method and device, electronic equipment and storage medium

CN117207172BCN 117207172 BCN117207172 BCN 117207172BCN-117207172-B

Abstract

The invention provides a redundant mechanical arm position adjustment method which is applied to various scenes such as cloud technology, artificial intelligence, intelligent traffic, vehicle-mounted and the like, and relates to the fields of the artificial intelligence, the cloud technology and block chains; the method comprises the steps of constructing cooperative carrying optimization functions of a plurality of mobile redundant mechanical arm systems, obtaining constraint conditions of the cooperative carrying optimization functions, solving and calculating the cooperative carrying optimization functions to obtain joint angular speed, moving platform speed and carrying object rotation angular speed of the redundant mechanical arms, and adjusting positions of the redundant mechanical arms. The invention also provides a redundant mechanical arm position adjusting device, electronic equipment and a storage medium. The invention can accurately determine the position of the redundant mechanical arm, reduce the occurrence of singular states, reduce the probability of joint damage and sensor fault of the redundant mechanical arm, and reduce the energy loss of the redundant mechanical arm.

Inventors

  • LIU QINGSHAN
  • Chi Guoyi
  • Meng Xiwang
  • SUN JIATAO

Assignees

  • 腾讯科技（深圳）有限公司
  • 东南大学

Dates

Publication Date
20260512
Application Date
20220817

Claims (17)

  1. 1. The position adjustment method of the redundant mechanical arm is applied to a mobile redundant mechanical arm system, and the mobile redundant mechanical arm system comprises a redundant mechanical arm and a mobile platform and is characterized by comprising the following steps: calculating the tail end coordinates of the redundant mechanical arm according to the physical parameters of the redundant mechanical arm and the motion parameters of the mobile platform; constructing a plurality of collaborative handling optimization functions of the mobile redundant manipulator system according to the energy loss function of the mobile redundant manipulator system and the operation adjustment function of the redundant manipulator, wherein the energy loss function comprises an articulation kinetic energy function of the redundant manipulator, a kinetic energy function of a mobile platform and a rotation kinetic energy function of a handling object, and the operation adjustment function represents a function of an inner product relationship between an operability gradient of the redundant manipulator and an articulation angular speed of the redundant manipulator to be solved; Acquiring constraint conditions of the collaborative handling optimization function; Based on the constraint condition, solving and calculating the collaborative handling optimization function by utilizing the tail end coordinates of the redundant mechanical arm to obtain the joint angular speed of the redundant mechanical arm, the moving platform speed and the rotating angular speed of the handling object; And adjusting the position of the redundant mechanical arm through the joint angular speed of the redundant mechanical arm, the speed of the moving platform and the rotation angular speed of the transported object.
  2. 2. The method of claim 1, wherein calculating the end coordinates of the redundant manipulator based on the physical parameters of the redundant manipulator and the motion parameters of the mobile platform comprises: acquiring a speed parameter of the mobile platform and a joint angular speed of the redundant mechanical arm; calculating a jacobian matrix of the joint angular speed of the redundant mechanical arm; Calculating the speed parameter of the tail end of the redundant mechanical arm according to the speed parameter of the mobile platform, the joint angular speed of the redundant mechanical arm and the jacobian matrix; And calculating the terminal coordinates of the redundant mechanical arm based on the joint angle of the redundant mechanical arm, the speed parameter of the terminal of the redundant mechanical arm and the position parameter of the mobile platform, so as to obtain the terminal coordinates of the redundant mechanical arm of the mobile redundant mechanical arm system.
  3. 3. The method of claim 1, wherein constructing a coordinated handling optimization function for a plurality of mobile redundant robotic arm systems based on the energy loss function of the mobile redundant robotic arm system and the operational adjustment function of the redundant robotic arm comprises: acquiring a joint kinetic energy function of the redundant mechanical arm, a kinetic energy function of the mobile platform and a rotational kinetic energy function of the conveyed object; Calculating a first corresponding relation between a joint kinetic energy function of the redundant mechanical arm and a joint angular speed of the redundant mechanical arm; calculating a second corresponding relation between the kinetic energy function of the mobile platform and the speed of the mobile platform; Calculating a third corresponding relation between the rotation kinetic energy function of the conveyed object and the rotation angular speed of the conveyed object; calculating a jacobian matrix of the joint angular speed of the redundant mechanical arm and a fourth corresponding relation of an operation adjustment function of the redundant mechanical arm; And constructing collaborative handling optimization functions of a plurality of mobile redundant mechanical arm systems by using the first corresponding relation, the second corresponding relation, the third corresponding relation and the fourth corresponding relation.
  4. 4. A method according to claim 3, characterized in that the method further comprises: Acquiring a first weight parameter corresponding to the first corresponding relation; acquiring a second weight parameter corresponding to the second corresponding relation; acquiring a third weight parameter corresponding to the third corresponding relation; acquiring a fourth weight parameter corresponding to the fourth corresponding relation; And adjusting cooperative carrying optimization functions of a plurality of mobile redundant mechanical arm systems through the first weight parameter, the second weight parameter, the third weight parameter and the fourth weight parameter.
  5. 5. The method of claim 1, wherein the obtaining the co-handling optimization function constraint comprises: Acquiring a first constraint condition of the tail end speed of the redundant mechanical arm and the joint angular speed of the redundant mechanical arm; Acquiring a second beam condition of the terminal speed consistency of the redundant mechanical arm; And acquiring a third beam condition of rotation angle consistency of the conveyed object.
  6. 6. The method according to claim 1, wherein the calculating the cooperative conveyance optimization function by using the end coordinates of the redundant robot arm based on the constraint condition to obtain the joint angular velocity of the redundant robot arm, the moving platform velocity, and the conveyance object rotation angular velocity includes: Based on the constraint condition, performing discrete time distributed optimization on the collaborative handling optimization function based on a fixed step length by utilizing the tail end coordinates of the redundant mechanical arm to obtain an optimal solution of the collaborative handling optimization function; When the optimal solution of the cooperative carrying optimization function is obtained, the joint angular speed of the redundant mechanical arm, the moving platform speed and the carrying object rotation angular speed are calculated through the cooperative carrying optimization function.
  7. 7. The method of claim 1, wherein the mobile redundant robotic arm system further comprises a camera assembly, the method further comprising: acquiring the distance between the mobile platform and the carrying object through the camera assembly; When the distance between the mobile platform and the carrying object is smaller than or equal to a distance threshold, the mobile platform stops moving, and the position of the redundant mechanical arm is adjusted to achieve the carrying effect of the carrying object.
  8. 8. A redundant robotic arm position adjustment device, the device comprising: the information transmission module is used for acquiring physical parameters of the redundant mechanical arm and motion parameters of the mobile platform; the information processing module is used for calculating the tail end coordinates of the redundant mechanical arm according to the physical parameters of the redundant mechanical arm and the motion parameters of the mobile platform; The information processing module is used for constructing a plurality of collaborative handling optimization functions of the mobile redundant mechanical arm system according to an energy loss function of the mobile redundant mechanical arm system and an operation adjustment function of the redundant mechanical arm, wherein the energy loss function comprises an articulation kinetic energy function of the redundant mechanical arm, a kinetic energy function of a mobile platform and a rotation kinetic energy function of a handling object, and the operation adjustment function represents a function of an inner product relationship between an operability gradient of the redundant mechanical arm and an articulation angular speed of the redundant mechanical arm to be solved; The information processing module is used for acquiring constraint conditions of the collaborative handling optimization function; the information processing module is used for solving and calculating the collaborative handling optimization function by utilizing the tail end coordinates of the redundant mechanical arm based on the constraint condition to obtain the joint angular speed of the redundant mechanical arm, the moving platform speed and the rotating angular speed of the handling object; the information processing module is used for adjusting the position of the redundant mechanical arm through the joint angular speed of the redundant mechanical arm, the moving platform speed and the rotating angular speed of the transported object.
  9. 9. The apparatus of claim 8, wherein the device comprises a plurality of sensors, The information processing module is further used for obtaining the speed parameter of the mobile platform and the joint angular velocity of the redundant mechanical arm, calculating a jacobian matrix of the joint angular velocity of the redundant mechanical arm, calculating the speed parameter of the tail end of the redundant mechanical arm according to the speed parameter of the mobile platform, the joint angular velocity of the redundant mechanical arm and the jacobian matrix, and calculating the tail end coordinates of the redundant mechanical arm based on the joint angle of the redundant mechanical arm, the speed parameter of the tail end of the redundant mechanical arm and the position parameter of the mobile platform to obtain the tail end coordinates of the redundant mechanical arm of the mobile redundant mechanical arm system.
  10. 10. The apparatus of claim 8, wherein the device comprises a plurality of sensors, The information processing module is further configured to obtain a joint kinetic energy function of the redundant mechanical arm, a kinetic energy function of the mobile platform, and a rotational kinetic energy function of the handling object, calculate a first correspondence between the joint kinetic energy function of the redundant mechanical arm and a joint angular velocity of the redundant mechanical arm, calculate a second correspondence between the kinetic energy function of the mobile platform and a velocity of the mobile platform, calculate a third correspondence between the rotational kinetic energy function of the handling object and a rotational angular velocity of the handling object, calculate a jacobian matrix of the joint angular velocity of the redundant mechanical arm and a fourth correspondence between the jacobian matrix of the joint angular velocity of the redundant mechanical arm and an operation adjustment function of the redundant mechanical arm, and construct a collaborative handling optimization function of the plurality of mobile redundant mechanical arm systems by using the first correspondence, the second correspondence, the third correspondence, and the fourth correspondence.
  11. 11. The apparatus of claim 10, wherein the device comprises a plurality of sensors, The information processing module is further configured to obtain a first weight parameter corresponding to the first correspondence, obtain a second weight parameter corresponding to the second correspondence, obtain a third weight parameter corresponding to the third correspondence, obtain a fourth weight parameter corresponding to the fourth correspondence, and adjust collaborative handling optimization functions of the plurality of mobile redundant mechanical arm systems through the first weight parameter, the second weight parameter, the third weight parameter and the fourth weight parameter.
  12. 12. The apparatus of claim 8, wherein the device comprises a plurality of sensors, The information processing module is further used for obtaining a first constraint condition of the terminal speed of the redundant mechanical arm and the joint angular speed of the redundant mechanical arm, obtaining a second beam condition of the terminal speed consistency of the redundant mechanical arm and obtaining a third beam condition of the rotation angle consistency of the carrying object.
  13. 13. The apparatus of claim 8, wherein the device comprises a plurality of sensors, The information processing module is further used for performing discrete time distributed optimization on the collaborative handling optimization function based on fixed step length by utilizing the tail end coordinates of the redundant mechanical arm based on the constraint condition to obtain an optimal solution of the collaborative handling optimization function, and calculating the joint angular speed of the redundant mechanical arm, the moving platform speed and the rotating angular speed of the handling object through the collaborative handling optimization function when the optimal solution of the collaborative handling optimization function is obtained.
  14. 14. The apparatus of claim 8, wherein the mobile redundant robotic arm system further comprises a camera assembly, The information processing module is further used for obtaining the distance between the mobile platform and the carrying object through the camera component, stopping the motion of the mobile platform when the distance between the mobile platform and the carrying object is smaller than or equal to a distance threshold value, and adjusting the position of the redundant mechanical arm to achieve the carrying effect of carrying the carrying object.
  15. 15. An electronic device, the electronic device comprising: a memory for storing executable instructions; A processor for implementing the redundant robot arm position adjustment method of any one of claims 1 to 7 when executing the executable instructions stored in the memory.
  16. 16. A software program product comprising computer executable instructions which, when executed by a processor, implement the redundant robot arm position adjustment method of any one of claims 1 to 7.
  17. 17. A computer readable storage medium storing executable instructions which when executed by a processor implement the redundant robot arm position adjustment method of any one of claims 1 to 7.

Description

Redundant mechanical arm position adjustment method and device, electronic equipment and storage medium Technical Field The present invention relates to a visual information processing technology, and in particular, to a redundant manipulator position adjustment method, a device, an electronic apparatus, a storage medium, and a software program. Background Mobile robots are expected to handle a variety of engineering and industrial tasks such as industrial welding, handicapped service and object transportation. However, with the continuous development and progress of society, many jobs become more and more complex and diverse, and requirements on working accuracy and diversity in the production process are also higher and higher, so that a single mobile mechanical arm cannot meet. Thus, research into multi-robot systems has attracted considerable attention. Compared with a single robot system, the multi-robot system has the advantages that the multi-robot system can finish work which cannot be finished by a single robot through cooperative cooperation, the complexity of finishing tasks is higher, the robustness of the system is higher, the multi-robot system can process the tasks by using a distributed method, the task finishing efficiency is improved, and a plurality of simple robot systems are simpler than a single complex single robot system architecture, so that the cost is lower. The multi-robot cooperative transportation means that a plurality of robots are adopted to jointly support one target object, and the consistency of group movement is ensured through cooperative motion control among the robots, so that the position movement of the target object is realized. However, in the related art, although the redundant mechanical arm has strong flexibility, the problem of a singular arm type can still be encountered in the actual motion planning, when the redundant mechanical arm is close to a singular state, the joint of the mechanical arm is severely dithered due to small displacement of the tail end, so that the joint damage and the sensor fault of the redundant mechanical arm are caused, the use of the redundant mechanical arm is influenced, and meanwhile, a large amount of kinetic energy is wasted due to the fact that the redundant mechanical arm is close to the singular state, and the energy loss of the redundant mechanical arm is increased. Disclosure of Invention In view of this, embodiments of the present invention provide a method, an apparatus, an electronic device, a storage medium, and a robot for adjusting a position of a redundant mechanical arm, which can accurately determine the position of the redundant mechanical arm, reduce occurrence of a singular state, so that a user can use the mechanical arm more conveniently, reduce probability of causing joint damage and sensor failure of the redundant mechanical arm, and reduce energy loss of the redundant mechanical arm, so that movement of the redundant mechanical arm is more energy-saving. The technical scheme of the embodiment of the invention is realized as follows: the embodiment of the invention provides a redundant mechanical arm position adjusting method, which comprises the following steps: calculating the tail end coordinates of the redundant mechanical arm according to the physical parameters of the redundant mechanical arm and the motion parameters of the mobile platform; constructing a plurality of collaborative handling optimization functions of the mobile redundant mechanical arm systems according to the energy loss function of the mobile redundant mechanical arm system and the operation adjustment function of the redundant mechanical arm; Acquiring constraint conditions of the collaborative handling optimization function; Based on the constraint condition, solving and calculating the collaborative handling optimization function by utilizing the tail end coordinates of the redundant mechanical arm to obtain the joint angular speed of the redundant mechanical arm, the moving platform speed and the rotating angular speed of the handling object; And adjusting the position of the redundant mechanical arm through the joint angular speed of the redundant mechanical arm, the speed of the moving platform and the rotation angular speed of the transported object. The embodiment of the invention also provides a redundant mechanical arm position adjusting device, which comprises: the information transmission module is used for acquiring physical parameters of the redundant mechanical arm and motion parameters of the mobile platform; the information processing module is used for calculating the tail end coordinates of the redundant mechanical arm according to the physical parameters of the redundant mechanical arm and the motion parameters of the mobile platform; the information processing module is used for constructing a plurality of collaborative handling optimization functions of the mobile redundant mechanical arm systems according to