Operability optimization motion programming method and device for redundancy mechanical arm

Abstract

The invention discloses an operability optimization motion programming method for a redundancy mechanical arm. The operability optimization motion programming method comprises the steps of setting an optimized motion performance index for maximizing the operability derivative of the redundancy mechanical arm and a constraint relation corresponding to the motion performance index; converting the motion performance index and the corresponding constraint relation into a quadratic programming problem; solving the quadratic programming problem through a quadratic programming solver, so that a solving result is obtained; and controlling the mechanical arm to move according to the solving result. By means of the method, various physical constraints of the redundancy mechanical arm can be effectively avoided, and the application space for conducting operability optimization motion programming on the redundancy mechanical arm is effectively expanded. 一种冗余度机械臂的可操作度优化的运动规划方法包括：设定冗余度机械臂的可操作度导数最大化的优化运动性能指标，以及与所述运动性能指标相应的约束关系；将所述运动性能指标以及相应的约束关系转化为二次规划问题；通过二次规划求解器对所述二次规划问题进行求解，得到求解结果；根据所述求解结果控制机械臂运动。本方法可以有效地躲避冗余度机械臂的各种物理约束，有效地扩大了冗余度机械臂的可操作度优化运动规划的应用空间。