Design And Implementation On Robotic Manipulator Motion Planning Algorithm

Robot motion planning(RMP) problem is one of the most necessary and important topics, which is usually divided into two subproblems, i.e., space path planning and frajectory planning. Space path planning have to decide a safe collision-free path when the robot perform certain task in entity space. How to solve the geometric problem with constrains is the critical problem. Trajectory planning is based on collision-free path. According to kinematics and dynamics of the robot, the path becomes real and practical trajectory.Various application fields of robots require that the robots are highly automatic, i.e., the robots can complete the task independently although the environment may be varying. Industrial robots with better environ-ment, e.g., assemblying robot, also need sensors to identify parts automa-tically. The key techniques include real-time motion planning, fast identi-fying information of sensors, and so on. Presently , the method of motion planning and the performance of sensors as well as the way to obtain the information of sensor confined the real-time application. So it抯 urgent to develop the fast , effective motion planning method in order to achieve the application breakthrough of robots in present technology conditions. On the other hand, industrial robots have emerged as a primary means of contemporary automation due to their potential for productivity increase and product quality improvement. Obviously, a robot should be controlled so as to produce as many units as possible per dollar invested. This in turn naturally leads to the need for minimum-time control of robots.Robotic manipulators motion planning is investigated in this paper . Since the shape structure and dynamic equations of manipulators are very complex and manipulators motion planning need to consider the input force/torque constrains and velocity constrains, manipulators motion planning problem is always difficult in robot research fields.This paper focuses on two manipulators coordination. The research of two manipulators problem is founded on single manipulator problem. At first, path planning of single manipulator is investigated. A method of collision-free path planning based on artificial potential field is proposed; an effective algorithm to solveZMII~7~MASTERS THESISdead-l骳k栲s?is iii~estigai閐 to overcome local planning deficien7鑩 of artificial potential fields. Then, the minimum-time trajectory planning(MTTP) for single manipulator is investigated. MTTP with dynamic model constrains is presented in detail. Then a algorithm of dynamic searching time-optimal trajectory based on phase-plane techniques is proposed and simulated. Thirdly, how to design and realize the two manipulators coordination system is introduced, which is illustrated with two coordinated manipulators to carry a big object. Collision-free path planning based on artificial potential field for the object carried is presented. Then according to the kinematics relatives between the object and two manipulators The tool point path in endeffector of each manipulator is obtained. Lastly, the minimum time trajectory planning for two manipulator with specified path is investigated.. A algorithm of MTTP using phase-plane techniques is presented, which is based on parameterized dynamics equations.This paper has consulted the experience of many researchers. The method which is presented in this paper have both high theory and perfect practicality. Simulation and experiment verified it.