Research On Trajectory Planning Of Six-degree-of-freedom Collaborative Robot

In recent years,telecommunications and household appliances and other 3C industries have become active.The production of many industries has changed from mass products with little change.Moving to a small batch of high-mixed products,it is necessary to build a flexible and efficient manufacturing system.Traditional industrial robots require a separate working space and are expensive,unable to meet the needs of the times.Robots that can work independently and collaborate with humans-collaborative robots have become the need of the times.In view of the collaborative robot(cobot)workplace and work content,there are higher requirements for its stability,safety,and accuracy.This paper takes the Aubo-i5 cobot as the research object,the research was carried out from the following aspects.(1)Based on the product of exponentials(POE),calculate the forward and IK model of the six-dof cobot,and verify the accuracy of the algorithm through experiments;(2)Based on the POE,calculate the space Jacobian matrix of the six-dof collaborative robot.Furthermore,the dynamic of the cobot is derived based on the Lagrangian and the POE,and the motion trajectory function of cobot is established;(3)Based on the artificial potential field(APF)theory and the fast random tree algorithm,combined with the advantages of the two-way fast random tree algorithm(ie RRTConnect algorithm)and the asymptotically optimal random tree(ie RRT* algorithm),an APF method is proposed.The progressively optimal two-way fast random tree algorithm(namely apf-RRT*Connect algorithm)is used for the path planning of the cobot;(4)Using the front-end OMPL.app of the Open Motion Planning Library,Verifies the superiority of the apf-RRT*Connect algorithm.