Research On The Kinematics And Path Planning Of Manipulator

Kinematics and path planning of manipulator is an important research content in robotics. Taking a4-DOF manipulator of RBT-4T/S02S as research object in this paper, the equation of kinematics of manipulator was built by using of the knowledge of coordinate transformation. Next, the manipulator’s model was built by SOLIDWORKS and imported to ADAMS for simulation. Finally, The study of obstacle avoidance and path planning were accomplished by co-simulation based on ADAMS and MATLAB.(1)The coordinates of this manipulator were built according to D-H method, and transformation matrix and the equation of manipulator’s kinematics were obtained based on coordinates systems.(2)According to the boundary condition of collision between obstacles and two linkages of manipulator at the two dimensional plane, and completed the description from the boundary to the mathematical function so that the C-space obstacle was established. Then researched on the obstacles in the three dimensional space on the foundation of two dimensional plane. The C-space obstacle was obtained by two projection from the horizontal plane and vertical plane. There was certain improvement for data structure based on the A*algorithm. Then searched for the free path of C-space obstacle by use the improved A*algorithm. As result, a free path with no collision was searched from the starting point to the target.(3)This paper imitated the obstacle avoidance process by co-simulation based on ADAMS and MATLAB. The model of a4-DOF manipulator of RBT-4T/S02S by SOLIDWORKS was established, and successfully imported ADAMS. The data from free path search by use of A*algorithm as the input function of ADAMS, and the state variables, input variables and output variables were all defined. Then established the control system in MATLAB and co-simulation was completed based on ADAMS and MATLAB. The simulation results showed that the desired path planning was achieved by the value of joint angle to control manipulator. (4)The experimental verification was completed by use of teaching robot of RBT-4T/S02S based on these theories and simulation. Results show that there are certain error between the planning data and experimental results, which called pose error of end-effector. There are exist deviation between actual position and ideal location, which caused of the mechanical transmission error and motion control error. The experimental results showed that path planning was accuracy and feasibility.The method of path planning proposed in this study which can improve the operation efficiency and theoretical guidance of manipulator, so it has been the foundation to more complex movement and path planning for robots.