CN-121973205-A - Double-mechanical-arm collaborative track planning method and device based on improved artificial potential field method

CN121973205ACN 121973205 ACN121973205 ACN 121973205ACN-121973205-A

Abstract

The invention relates to the technical field of mechanical arm track planning, in particular to a double mechanical arm collaborative track planning method and device based on an improved artificial potential field method, which detects collision distances between the double mechanical arms and environmental obstacles in real time; an improved potential field function is constructed, the function is formed by weighting an attraction force item influenced by the deviation of the tail end position and the joint angle and a repulsion force item based on the real-time collision distance, and the total potential energy is taken as the minimum target, and the principal and subordinate alternate collaborative track searching and optimizing are carried out in the joint space. When the search is trapped in the local minimum, a virtual target pose is dynamically generated to guide the mechanical arm to escape, and then the movement to the final target is restored. The invention effectively solves the problem of local minimum, the planned joint track is smooth and has continuous speed, and the motion performance of the double mechanical arms in the shared space is obviously improved, and the double mechanical arms are safe, stable and cooperatively obstacle avoidance.

Inventors

WANG ZHALA
ZHANG YUNFEI
FAN WENLIANG
SONG FEI

Assignees

鄂尔多斯应用技术学院

Dates

Publication Date: 20260505
Application Date: 20260130

Claims (10)

1. The double-mechanical-arm collaborative track planning method based on the improved artificial potential field method is characterized by comprising the following steps of: Step S1, detecting collision risks between two mechanical arms and between the mechanical arms and an obstacle in real time, and acquiring collision distance information; s2, based on the collision distance information, constructing a total potential energy function formed by a weighted sum of gravitational potential energy and repulsive potential energy for the double-mechanical-arm system, wherein the value of the repulsive potential energy is calculated according to the collision distance information, and the gravitational potential energy is configured to be influenced by position deviation of the tail end of the mechanical arm and joint space angle deviation at the same time; S3, track searching is carried out in a joint space by taking the total potential energy function minimization as a target, and an optimized track is output; And S4, if the track searching process falls into a local minimum value due to potential field balance, dynamically generating a virtual target pose according to the relative pose relation between the current double mechanical arms and the obstacle, taking the virtual target pose as a new searching target, re-executing the track searching process of the step S3 to generate a track section leading to the virtual target pose, restoring to take the final target pose as the searching target after the virtual target pose is achieved, and continuing to execute the track searching process of the step S3 until the final target pose is reached, and outputting an optimized track.
2. The method for planning the collaborative trajectory of the double mechanical arms based on the improved artificial potential field method according to claim 1, wherein the calculation formula of the gravitational potential energy is: ; Wherein, the Represents the potential energy of the gravitational force, X is the current coordinate of the tail end of the mechanical arm and is the gravitational gain coefficient, For the end target coordinates of the robotic arm, For the current angle of the ith joint, And n is the number of joints of the mechanical arm, wherein the target angle is the ith joint.
3. The method for planning the collaborative trajectory of the double mechanical arms based on the improved artificial potential field method according to claim 1, wherein the calculation formula of the repulsive potential energy is as follows: ; Wherein, the Represents repulsive potential energy, n represents the number of joints of the mechanical arm, For the repulsive force gain factor, Represents the distance of the obstacle to the ith joint of the arm, Representing the repulsive force field radius.
4. The method for planning a collaborative trajectory of a dual manipulator based on an improved artificial potential field as set forth in claim 1, wherein in step S4, dynamically generating a virtual target pose comprises: Determining a virtual target direction for escaping based on the geometric relation of the double mechanical arms on the preset plane projection; And calculating a group of temporary joint angles serving as the pose of the virtual target according to the virtual target direction.
5. The method for planning a collaborative trajectory of a dual-manipulator based on an improved artificial potential field of claim 4, wherein determining a virtual target direction for escape based on geometric relationships of the dual-manipulator on a pre-set planar projection comprises: Tangential a projection line of the slave arm to a virtual circular boundary defined by a specific point on the master arm to determine a virtual target angle of the rotary joint closest to the several seats of the slave arm; Based on the relative position relation of the double mechanical arms on the projection plane, the slave mechanical arm is judged to be positioned above or below the master mechanical arm.
6. The method of claim 5, wherein calculating a set of temporary joint angles as the virtual target pose according to the virtual target direction comprises: According to the judging result, correspondingly increasing or decreasing the virtual target angles of the other joints of the slave mechanical arm so as to guide the slave mechanical arm to move towards the judged azimuth; and jointly forming the virtual target pose by the determined virtual target angles of the joints.
7. The method for planning the collaborative trajectory of the double mechanical arms based on the improved artificial potential field method according to claim 1, wherein the step S1 specifically comprises the steps of performing collision detection by establishing a cylindrical-hemispherical bounding box model for a connecting rod of the mechanical arm, and acquiring the collision distance information by calculating the shortest distance between the center lines of the two bounding boxes.
8. A double-mechanical-arm collaborative track planning system based on an improved artificial potential field method is characterized by comprising the following steps: the collision detection module is used for acquiring collision distance information between the two mechanical arms and between the mechanical arms and the obstacle in real time; the track searching module is used for constructing a total potential energy function formed by the weighted sum of gravitational potential energy and repulsive potential energy for the double-mechanical arm system based on the collision distance information, and carrying out track searching in a joint space with the aim of minimizing the total potential energy function, wherein the value of the repulsive potential energy is calculated according to the collision distance information, and the gravitational potential energy is configured to be influenced by the position deviation of the tail end of the mechanical arm and the angle deviation of the joint space at the same time; and the local minimum processing module is used for dynamically generating a virtual target pose according to the relative pose relation between the current double mechanical arms and the obstacle when the track searching process falls into a local minimum due to the balance of potential fields, taking the virtual target pose as a new searching target, triggering the track searching module to carry out track searching again so as to generate a track section leading to the virtual target pose, triggering the track searching module to restore to take the final target pose as the searching target after the virtual target pose is achieved, and continuously executing track searching until the final target pose is reached.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when the program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

Description

Double-mechanical-arm collaborative track planning method and device based on improved artificial potential field method Technical Field The invention relates to the technical field of mechanical arm track planning, in particular to a double mechanical arm collaborative track planning method and device based on an improved artificial potential field method. Background With the continuous development of the fields of intelligent manufacturing, special operation and the like, the multi-robot collaborative operation has become a key technology for breaking through the bottleneck of complex operation due to the remarkable advantages of the multi-robot collaborative operation in the aspects of task capacity, efficiency and flexibility. The dual-mechanical arm system is used as the most common cooperative unit and is widely applied to the scenes of assembly, transportation, welding and the like. However, in a practical dynamic, unstructured environment, achieving dual-robotic safe, efficient, stable collaborative motion planning still faces a series of fundamental challenges. The traditional artificial potential field method is widely applied to real-time obstacle avoidance of robots due to simple mathematical model and quick calculation response. However, when the method is applied to the cooperation of the double mechanical arms, the inherent limitations exist in that firstly, the traditional potential field only depends on the Cartesian space position relation between the end effector and the target point and the obstacle, the joint space kinematic performance of the mechanical arm cannot be considered, the planned path possibly causes the joint speed mutation, the approximate singular configuration or the low energy efficiency, secondly, the method is easy to sink into the local minimum point, especially when the double mechanical arms are mutually close or interact with the complex obstacle, the planning failure is caused, moreover, the collision detection model of the traditional potential field is often rough or large in calculation amount, the complex interference condition among the mechanical arm connecting rods is difficult to accurately describe while the real-time performance is ensured, and the safety is influenced. On the other hand, the existing double-mechanical-arm collaborative planning research often carries out the sub-problems of motion planning, internal force control, load balancing and the like on the split treatment. For example, collision-free path planning and joint moment optimization are divided into two independent stages, so that the planned track is not feasible in dynamics or has poor performance, and when unknown objects are operated cooperatively, the robust internal force tracking capability for uncertainty of multiple parameters such as rigidity of the objects, movement of contact points and the like is lacked, so that the stability of the cooperative operation is insufficient. These problems reflect the lack of an integrated framework for unified processing of kinematic constraints, kinematic coupling, real-time obstacle avoidance and uncertainty compensation in the current technology. Disclosure of Invention In view of the above, the invention aims to provide a double-mechanical-arm collaborative trajectory planning method and device based on an improved artificial potential field method, so as to solve the problems of local minimum trap, unaccounted for joint kinematics performance optimization and insufficient collision detection efficiency and precision in the traditional double-mechanical-arm collaborative obstacle avoidance trajectory planning. Based on the above purpose, the invention provides a double-mechanical-arm collaborative track planning method based on an improved artificial potential field method, which comprises the following steps: Step S1, detecting collision risks between two mechanical arms and between the mechanical arms and an obstacle in real time, and acquiring collision distance information; s2, based on the collision distance information, constructing a total potential energy function formed by a weighted sum of gravitational potential energy and repulsive potential energy for the double-mechanical-arm system, wherein the value of the repulsive potential energy is calculated according to the collision distance information, and the gravitational potential energy is configured to be influenced by position deviation of the tail end of the mechanical arm and joint space angle deviation at the same time; S3, track searching is carried out in a joint space by taking the total potential energy function minimization as a target, and an optimized track is output; And S4, if the track searching process falls into a local minimum value due to potential field balance, dynamically generating a virtual target pose according to the relative pose relation between the current double mechanical arms and the obstacle, taking the virtual target pose as a new searchin