- Method and Apparatus for Collision-Free Trajectory Optimization of Redundant Manipulator given an End-Effector Path

摘要

A collision-free trajectory optimization method and apparatus of a redundant manipulator for accurately following a given end-effector path is presented. The collision-free trajectory optimization method of the redundant manipulator for accurately following a given end-effector path proposed in the present invention includes matching to minimize the pose error between the target and the current end-effector pose, conditions to ensure smoothness of the trajectory, Modeling the objective function with three characteristics of a quantitative measure of proximity to an obstacle to avoid collision, updating the trajectory iteratively to minimize the cost of the objective function with the three characteristics, and updating the three characteristics during the update Optimizing the trajectory using two-step gradient descent to reduce potential competition between In order to prevent this from happening, the desired trajectory is synthesized through an optimization process that incorporates the step of applying quantum annealing, which repeatedly randomizes the joint configuration of the initial trajectory, and the trajectory is updated by checking the collision of the trajectories applied with quantum annealing. includes steps.