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[CN202210572618.X] Motion Planning Method for Redundant Hydraulic Manipulator Based on Minimum Flow
[CN202210572618.X] Title of Motion Planning Method for Redundant Hydraulic Manipulator Based on Minimum Flow: Application Number of Motion Planning Method for Redundant Hydraulic Manipulator Based on Minimum Flow: CN202210572618.X Applicant: East China Jiaotong University Application Date: 2022-5-25 Patent Type: Application for the Invention The present invention discloses a motion planning method for redundant hydraulic manipulator based on minimum flow, including steps 1. to establish a redundant hydraulic manipulator model; Step 2. minimum flow optimization: in order to reduce the flow consumption during the movement of the manipulator, firstly, the relationship between the cylinder speed of the hydraulic cylinder and the end speed of the manipulator is derived from the positive kinematics equation of the manipulator, and then a weighting matrix is introduced on the basis of the minimum norm of the cylinder speed, and the instantaneous flow of the manipulator is continuously reduced by dynamically optimizing the weights of the weighting matrix, and then achieve the goal of redundancy decomposition with the least energy consumption.
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