Obstacle avoidance of a seven-joint manipulator based on double interpolation trajectory control

REN Jinchao; LI Jiachang; WANG Pingjiang; WEI Peng; ZHANG Xiaohan

doi:10.13374/j.issn2095-9389.2022.11.03.001

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REN Jinchao, LI Jiachang, WANG Pingjiang, WEI Peng, ZHANG Xiaohan. Obstacle avoidance of a seven-joint manipulator based on double interpolation trajectory control[J]. Chinese Journal of Engineering. doi: 10.13374/j.issn2095-9389.2022.11.03.001

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REN Jinchao, LI Jiachang, WANG Pingjiang, WEI Peng, ZHANG Xiaohan. Obstacle avoidance of a seven-joint manipulator based on double interpolation trajectory control[J]. Chinese Journal of Engineering. doi: 10.13374/j.issn2095-9389.2022.11.03.001

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Obstacle avoidance of a seven-joint manipulator based on double interpolation trajectory control

doi: 10.13374/j.issn2095-9389.2022.11.03.001

REN Jinchao^{1, 2},
LI Jiachang^{1, 2},
WANG Pingjiang^{1, 2
,
,},
WEI Peng^{1, 2},
ZHANG Xiaohan^{1, 2}

1.
National Nc System Engineering Research Center, Huazhong University of Science and Technology, Wuhan 430074, China
2.
Quanzhou HUST Research Institute of Intelligent Manufacturing, Quanzhou 362006, China

More Information

Corresponding author: E-mail: pj_wang@hust.edu.cn
Received Date: 2022-11-03
Available Online: 2023-03-28

Abstract

Abstract

In recent years, with advancements in industrial production requirements, the seven-joint manipulator—a representative of intelligent and automatic technology—has received extensive attention from scholars locally and abroad. One of the most fundamental technological aspects in the field of seven-joint manipulator research is the obstacle avoidance and trajectory control technology of the manipulator. In the field of obstacle avoidance of robotic arms, despite the fact that the traditional gradient projection method based on the obstacle avoidance index can achieve the purpose of obstacle avoidance, several challenges will continue to be encountered, including the decline of end tracking accuracy and the inability to accurately control the trajectory of joint linkage. Because of the aforementioned shortcomings, this paper proposes a novel manipulator trajectory control algorithm based on double interpolation, which is, in turn, based on the analytical solution of the seven-joint manipulator. This method utilizes the given position vector of the wrist joint center point of the manipulator to derive the interpolation operation equation of the position vector in the trajectory planner, thereby obtaining the rotation angle of the seventh joint self-motion according to the position vector of the wrist center point. The rotation value interpolated by each interpolation period is added to the seventh joint-angle value of the inverse solution joint vector calculated by the analytical solution. This leads to achieving the purpose of joint trajectory control. The double interpolation manipulator trajectory control algorithm can also calculate a group of joint-angle values using the general gradient projection method as a reference, conducting analytical solution selection to circumvent singular point effects. The new double interpolation manipulator trajectory control algorithm based on the modified seven-joint manipulator configuration has been tested on the LinuxCNC real-time control platform and the Matlab simulation platform, and the end accuracy of the manipulator is taken as the measurement index to verify both the effectiveness of the joint trajectory control of the manipulator based on this method and the superiority of the end accuracy control compared with the gradient projection method. After verification, the accuracy of the double interpolation trajectory control algorithm proposed in this paper is found to be at least 3.59 × 10^?8 and 2.74 × 10^?8 orders of magnitude higher than that of the gradient projection method and the singular robust inverse algorithm, respectively. In the case of a complex end motion trajectory, such as an arc trajectory, its accuracy may even be improved by 10^?11 orders of magnitude. In summary, the trajectory control method based on double interpolation can be applied to the obstacle avoidance scenario without affecting the end trajectory because of its strong error control capability.
- double imputation,
- trajectory control,
- obstacle avoidance,
- seven-joint robotic arm,
- end precision

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References(27)

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