The Research On Dynamic Collision Avoidance Of 6-DOF Manipulator

With the widespread application of robots in the field of manufacturing industry,it is not uncommon for industrial robots to hurt workers.How to ensure the safety of workers under the premise of sharing limited space has become the research focus of robot collision avoidance technology.Therefore,it is of great significance to study the dynamic collision avoidance of industrial robots in complex environment to improve the safety of industrial robots.In this paper,YL-R1400 industrial robot is taken as the research object.Aiming at the problem of obstacle avoidance and target tracking when the manipulator is running,the obstacle avoidance and target tracking of six DOF Manipulator are studied and analyzed by using depth learning algorithm,binocular vision spatial positioning technology,artificial potential field method and virtual prototype technology.The research contents are as follows:Firstly,based on the data of YL-R1400 industrial robot,the kinematic model and analysis of the manipulator are carried out.The D-H parameter method is used to establish the forward kinematics model of the manipulator,and the conversion equation between the spatial coordinate system of the end of the manipulator and the spatial coordinate system of the joint is solved;the algebraic method is used to solve the inverse kinematics equation of the manipulator,and the inverse kinematics program is used to solve the rotation trajectory of each joint of the manipulator when the end trajectory is known,so as to provide control variables for the control system,and matl is used to solve the transformation equation AB robotics toolbox verifies and analyzes the model.Secondly,the binocular vision system is used to obtain the location information of the target.Based on the deep learning algorithm,the obstacle and target are detected and identified,and then the acquired information is transmitted to the binocular vision system with spatial positioning algorithm,and the three-dimensional coordinates of the object and the obstacle are determined to provide the location information of the object and the obstacle for the collision avoidance algorithm.The target recognition and spatial positioning experiments are carried out on tensorflow and opencv platform.Then,the defects of artificial potential field method in collision avoidance are studied,and the method of establishing velocity field is used to define artificial potential field,so as to improve the feasibility of artificial potential field method in three-dimensional collision avoidance and dynamic collision avoidance.The dangerous field method is used to determine the distance between the links and obstacles of the manipulator,and to determine whether the repulsion velocity acts on the manipulator.The method of adding additional velocity in the normal direction of sum velocity is used to solve the problem that the artificial potential field method is easy to fall into local minimum value.The rationality and reliability of the algorithm are verified by MATLAB numerical simulation.Finally,the virtual prototype of industrial robot is built based on ADAMS and MATLAB software,and the simulation verification and analysis of the research object are carried out.Firstly,the 3D model of YL-R1400 6-DOF manipulator is established by SolidWorks,and the 3D model is imported into Adams to build the kinematic simulation model,which is used as the mechanical module of the virtual prototype of manipulator.The control system based on PID is built in MATLAB Simulink.Finally,the mechanical module in ADAMS is introduced into the control model built by Simulink,and the whole system is verified and analyzed by the virtual prototype.The verification results show that when the industrial robot operates normally according to the predetermined trajectory,if the obstacle appears in the working range of the manipulator,the binocular vision unit relies on the spatial positioning algorithm to reproduce the threedimensional coordinates of the obstacle and the target.At the same time,the artificial potential field method based on the velocity field obtains the coordinates of obstacles and targets,then plans the collision avoidance trajectory,and transmits the collision avoidance trajectory to the manipulator control system,so that the manipulator can achieve dynamic collision avoidance.In order to ensure the personal safety of the staff in the human-computer cooperation.