Research On Motion Planning Of Redundant Manipulator In Noisy Environment

In science and engineering,the motion planning of redundant manipulator is widely involved,and the problem of redundancy analysis is usually considered as the basic part of the manipulator control field.The general repetitive motion planning and obstacle avoidance plan of the manipulator are almost all in the noiseless environment,while in the practical application or industrial production,the noise is inevitable.However,the presence of noise has a great impact on the movement of the manipulator and even leads to the failure of the control scheme.Therefore,no matter in the actual environment or in the process of simulation,how to effectively suppress the noise so that the manipulator successfully complete a given task becomes very worthy of research.In order to solve the problem of redundant manipulator motion planning in noisy environment,an equality constraint is proposed in this paper,and then the constraint is applied to the repetitive manipulator motion planning and obstacle avoidance scheme to form a new scheme that can suppress the noise.The theory proves that the error of the constraint is convergent,so that the end error of the scheme with noise is guaranteed to be asymptotically stable and the precision meets the control requirements.On the basis of the establishment of repetitive motion planning and obstacle avoidance scheme,the two schemes are integrated to form a new scheme that can realize both repetitive motion and obstacle avoidance in noisy environment.The three schemes can be expressed as quadratic problems,and the neural network model is used to solve,which is convenient for the next step of verification.Since the redundant manipulator is a research hotspot at home and abroad,this paper will further discuss the application of the proposed three schemes to the motion planning of the PA10 redundant manipulator,so as to reflect the practical application value of the scheme.The three schemes are used to solve the joint angles through the kinematic equation of the redundant manipulator.Then,the computer simulation based on PA10 redundant manipulator is carried out,and the corresponding simulation results prove that the end-effector can successfully complete the given taskunder zero,constant and bounded time-varying noise environment with the proposed scheme.Moreover,by adjusting the parameters of the scheme,the end error of the manipulator can be made to have a high precision(whether the noise exists or not).This provides research significance and reference value for the motion planning of redundant manipulator.