Collision-free Trajectory Planning Of Robot

In this paper, Collision-Free trajectory planning for the moving robot along specified trajectory is underway, according to the obstacle-avoidance task and the trajectory needing to be finished by robot. Six DOF full-joints robot that can solve this problem is adopted, the structure of this type of robot is similar to man's waist and hand ,its position and pose is all realized by rotation ,the organization is compact, the flexibility is good, relative high linear velocity of end manipulator can be got. To calculate the exact value of sweeping space of all arms is difficult as robot moving, most of planning system describe the robot approximately. In the course of simulation, this paper take the heavy, little arms of 6R welding robot as two cylindrical bodies, simplify the robot to line segment without appearance. Based on the relation between robot and obstacle entity, through analyzing the characteristic of obstacles in E-Space, to set up the model of obstacle border by virtue of geometric-figure method. This law is trajectory planning algorithm suited to the robot movement which border obstacles is line segment and arc, to solve the collision-free trajectory problem in 3-D Space by mean of geometric-figure method in 2-D Space, this law is more visual and convenient, the calculating amount is small. While setting up mathematics model of kinematics, inverse problem against kinematics is to give out the position and pose of manipulator based on the base coordinates and solve its joint variable. It is comparatively complicated to solve the problem, because it is a problem to solve no-linear equation in fact. At present, there is not a solution in common yet. hi this paper, fractional step algebra law based on D-H method is adopted, which avoid a large amount of inverse multiply operation of matrix, at the same time, reduce the transferring of surmount function. The solving process is simpler, the computational speed is improved greatly, systematicness is strong and has very great practical value Simulation for the kinematics of the robot restricted by the condition for border obstacles at last. The simulation result has verified that the setting up for mathematics model of kinematics and obstacles border model is exact.