METHOD FOR OVERCOMING THE DEAD ENDS DURING MOVEMENTS TO THE TARGET POINT ALONG AN ARBITRARY TRAJECTORY OF THE OUTPUT LINK CENTER

Abstract

The article proposed a method for overcoming the dead ends that arising during movements of the android robot's hand in an organized space along the velocity vector. In a dead end situation, the algorithm cannot calculate next configuration, which will allow the center of output link to be shifted at a given speed and positioning accuracy to the next point of the trajectory. The proposed method is based on the calculation of the permissible positioning accuracy of the center of the output link in order to change the position of the arm configuration relative to the forbidden zones with deviations from the specified path. The positioning accuracy in this case will depend on the width of the corridor in which the center of the output link can move freely, as well as on the distance between the center of the output link and the boundaries of the corridor. An algorithm is proposed using this method and the implementation of a test example confirming the verification of the performance of this algorithm is presented. The developed algorithm for the synthesis of movement along an arbitrary trajectory of the center of the output link allows one to determine the reachability of target points with the use of an automated method at the virtual level in the presence of forbidden zones. In this case, the given geometrical dimensions of the forbidden zones and objects of manipulation are taken into account. This algorithm can be used in the development of intelligent control systems for autonomously functioning robots that move objects of manipulation without the participation of a human operator.