VR-Based Kinematic Motion Planning And Simulation For Redundant Robotic Manipulators

As a new development in information technology Virtual Reality (VR) has been studied in many applied field at present, and VR-based remote operation and simulation is an important topic in the research of VR applicating in robotic manipulators. Now a day, the work of modern robots has been becoming more and more complicate, and robots with redundancy have been got increasing applications in the field of robotic manipulators. The additional degree of freedom in redundant robots can be used to avoid singularities, joint limits, and collisions, and to optimize performance. So many scholars are interested in the research of redundant robotic manipulators. Kinematic motion planning is one of the important subjects in the research of redundant robotic manipulators, and developing new algorithm, realizing intelligentization and visualization for the motion planning process are of very important realistic significance. In this thesis, systematic researches on the motion planning algorithm and VR-based simulation of the motion planning for the redundant robotic manipulators are conducted. The main studies in this thesis are as follows:Firstly, based on the analysis and studies of the development and application of visualization technology modeling method of virtual-object, the definition, characteristic, system structure and design method of virtual reality are introduced. Then the robot application oriented system VR modeling is established, and the integral environment of the VR system is studied, therefore the intelligent mechanism of man-machine integration in robotic research is increased.Secondly, based on the analysis of recent researches on motion planning, a novel method for globally solving for the point-to-point inverse kinematics ofrobotic manipulators with high redundancy is developed. The concept of motion road map for the manipulators is presented which can capture the connectivity of the connected components of the free configuration space from initial configuration to the objective configuration for the manipulators with constraints due to the joint limits, self-collision and obstacles in the environment. For a given manipulator the kinematic roadmap is once built, as a general universal and practical data structure it can be used to find a set of solutions for the inverse kinematics.In the third part of the thesis, various types and concepts of completeness are presented and discussed, and the completeness of kinematic roadmap algorithm is proved mathematically.Finally, a new VR-based simulation system for robotic manipulators is developed, and intensive studies on the modeling of virtual enviroment of redundant robot arm based on OpenGL technology have been conducted, and motion planning approach of path tracking based on virtual model is developed, and the visualization of the motion planning process of the robotic manipulators is realized as well.