The Research Of Planning Technology For Obstacle Avoidance Path Based On Multi-degree Of Freedom Industrial Manipulator

The robot is the product of the integration of control theory, mechanical electronics,computers, materials, and bionics. Needs of the project developed a multi-degree of freedomindustrial robot arm, the robotic arm in the teach mode complete the specified action. Thisarticle on the robotic arm avoid the key technologies encountered in the course of the study ofthe barrier and path planning do the following discussion:(1) First, this paper investigates the development of domestic and foreign industrialmanipulator obstacle avoidance path planning based on actual project circumstances to meetthe subject needs to study the six degrees of freedom industrial manipulator obstacleavoidance path planning techniques for target.(2) Using the D-H method to multi-DOF industrial manipulator kinematics model and analyzethe kinematics and inverse problem, focusing on multiple solutions for the inverse problemmethod for solving the inverse solution were analyzed; manipulator The dynamics alsoincludes the forward problem and inverse problem, this article from the real-time control, thedynamic model, optimal control, and good dynamic performance and the best indicators ofseveral aspects of the manipulator dynamics problems.(3) With the deepening of the study, found that the anticipation of the collision point of the setof intermediate points in the path planning and obstacle avoidance process are related to themanipulator controller at the end of the workspace, singularity, and other technical difficulties.The depth of the path planning, obstacle avoidance and motion control, the workspace of themanipulator, singular points are discussed.(4) Non-singular path planning refers to planning in the execution of its mandate to avoid thepath of the singular region. This paper presents an improved algorithm to retain theadvantages of the Newton iteration, the algorithm to overcome the shortcomings of a singularpoint of the Newton iteration method does not resolve the path points, the introduction ofanother new path planning algorithm-joint coordinate planning method, the improvedalgorithm can effectively solve the problem of singularity in the path planning.(5) Finally, in order to improve the smoothness of the trajectory of manipulator planning toensure the smoothness of the acceleration, velocity, reduced impact damage to the motor,effectively reducing the trajectory tracking error. Smooth obstacle avoidance path planningtwo aspects: First, combined with genetic algorithm and the B-spline curve generationalgorithm to produce a continuous, smooth, obstacle avoidance curve; taking into account themanipulator joint velocity and acceleration constraints, to ensure joints at the starting point,consistent with the end of the pose and the target position and orientation, and each segmentposition, velocity and acceleration are continuous smooth connection. Kinematic constraintsinto B-spline curve control vertex constraint, the control point for the minimum cost functionoptimization, in order to plan the optimal smoothing track of exercise time constraints. Designcombined with T-S fuzzy model controller and variable structure control, making the robotarm position, velocity and state variables to track a given desired trajectory.