The Trajectory Planning Of An Electro Hydraulic Servo Control Redundant Robot Based On Space Obstacle Avoidance

The joint space dimension of redundant robot is greater than its task spacedimension. If the position and orientation of the end effector of the redundant robot isknown, the joint space has a lot of kinds of matching position and orientation.Through the redundant features, the redundant robot can overcome someshortcomings such as bad flexibility, not obstacle avoidance, beyond joint limits andpoor dynamic performance in trajectory planning. Therefore, how to use theredundant features of the redundant robot trajectory optimization effectively is animportant research issue of robot control.This M.E. dissertation is developed and based on2013research fund for thedoctoral program of higher education named “the control strategy of tele-operation ofelectro-hydraulic underactuated redundant robot”. And the trajectory planning ofredundant robot with4-DOF is researched. The redundant robot optimization methodand simulation verification is discussed to overcome the shortcomings that thekinematic inverse solution of the redundant robot which is hard to solve and improvethe trajectory planning performance of redundant robot.In this paper, the redundant robot structure model is established. The kinematicsmodel is designed and the positive solution is solved with D-H method. Themathematical model of electro-hydraulic position servo control system of redundantrobot is set up. The PD controller and anti-interference observer are designed and theelectro-hydraulic servo system is controlled by it. By using the theory of targetoptimization and performance indexes of redundant robot, taking the obstacleavoidance potential function as inequality constraints, taking another dexterity indexas the objective function, the redundant robot multi-objective optimization can bechanged into one objective optimization, the optimization solution of the redundantrobot joints can be obtained. Through this method, the purpose of the multi-objectiveoptimization of redundant robot is realized. The redundant robot model is established and the simulation is carried with the designed controller. The result of the simulationtells that the trajectory planning used in redundant robot electro-hydraulic positionservo control system is effective.