Research On Trajectory Planning For The Six Degrees Of Freedom Robot Handling Large Automobile Panels

This paper focuses on the autonomous obstacle avoidance path planning problem of the six degrees of freedom robot handling large automobile panels. The main research contents include the following aspects:First of all, FANUC R2000iB which commonly used in handling automotive large covering parts was taken as the research object, and the robot’s link coordinate system was established according to the specific link parameters of the robot Based on the link coordinate system, the equation of forward kinematics and reverse kinematics could be solved, so as to establish the kinematic model of the robotNext, aiming at the collision problem in the process of motion, based on the analysis and comparison of AABB, OBB, k-DOPs, and bounding sphere collision detection algorithm, an ellipsoidal bounding box algorithm was proposed. The method has the features of simply established and compact construction method of good performance and highly flexibility. It could achieve very good results when used into path planning for obstacle avoidance.Then, due to the limitations and restrictions of the typical algorithms, such as, genetic algorithm, artificial potential field method and A* search algorithm. The step by step search algorithm was built up. Combined with the ellipsoid bounding box to carry out the obstacle avoidance path planning of the robot, the algorithm’s inadequacy can be improved in the collision detection.Finally, with Ihe MATLAB and ROBCAD software, a simulation model of FANUC robot Robot’s working space were established, and the virtual simulation model of the vehicle front cover which surrounded by an ellipsoid was built up. Simulation results demonstrate the validity of the step by step search algorithm, and it also illustrates the necessity of considering the autonomous obstacle avoidance.