Research On Obstacle Avoidance Path Planning For Industrial Robot Used In Paving Material In The Barrel

The paving mechanism paves the material in the barrel in layers quickly andevenly driven by the robot in the circumference of the paving system.It is necessary toplanning the path of suppling material for the uneven areas to ensure the robot finishesthe work quickly.The suppling material path planning includes the path planning ofposition and pose and ensuring the the paving mechanism out of obstacle.Therefore, theresearch on obstacle avoidance path planning for industrial robot used in pavingmaterial in the barrel is demanded.In order to solve the difficulties in suppling material by the robot rapidly,conductthe following research.Firstly,analysis the key technology of the paving systemincluding the robot kinematics and the feasible motion space of the paving mechanismin the barrel.Secondly,study on the method of extracting and tracking the contour of theuneven areas based on machine vision.Thirdly, design the pose of suppling material foruneven areas and research the algorithm for the path planning.Finally, accomplishingthe experiment of suppling material for the uneven areas.Through the research above,getting some research achievements.Firstly,the inversekinematics of the robot and the analysis of the motion space of the paving mechanismare finished.Secondly,the algorithm of extracting and tracking the contour of the unevenareas based on the freeman chain code is completed.Thirdly,the pose of supplingmaterial for uneven areas is designed.Fourthly,the artificial potential field method,A*algorithm and RRT algorithm are modified based on the analysis of the limitations ofthe traditional path planning algorithm for suppling material and the MTA*algorithm isproposed.The bidirectional planning algorithm and the PSOAPF algorithm arepresented by the combination of the particle swarm optimization algorithm with theother algorithms.Finally,verified the feasibility of the algorithms above in the MATLABsimulation platform and contrasted the algorithms in three aspects of the time using ofpath planning,path length and path smoothing.Research shows that the PSOAPFalgorithm is the most feasible algorithm for suppling material path planning.What’smore,a man-machine interface program combined the image process with the pathplanning based on the Microsoft Foundation Classes is designed.In this program,thesimulation of the path planning based on the image process and the remote control ofthe robot are achieved.Besides,the experiment of suppling material for the uneven areasis fulfilled base on that program to verify the feasible of all algorithms proposed in thispaper.