Research And Judgment Of 6-DOF Manipulator’s Passing Through Ability

Along with the development of science and technology, the trend of robots replace manual production is more and more obvious, research on the robot’s end path simply can’t meet the needs of production. At this moment, studying on the manipulator’s whole passing through ability is necessary and it can make the robot complete the tasks better. This paper takes the six DOF welding robot as a research object, research on the manipulator’s whole passing through ability as followings:Firstly, robot bar model was built by using the D-H method, the inverse kinematics solution was deduced and the manipulator’s cylinder bounding box is established.Secondly, the robot’s possible working environment was analyzed, and different bounding box was adopted according to different shapes of the obstacles in the environment. Then the bounding box collision detection method was provided by the space geometrical relationship.Once again, a kind of improved artificial potential field method was used to plan the manipulator’s obstacle avoidance path. The position distance between the robot and the goal, and the angle distance between the robot’s joint and the goal’s joint is introduced to solve the problem of local minimum. At the same time, the equal potential intermediate target point is introduced to guide the robot escaping the point of the local minimum.Finally, the method of collision detection and path planning method was combined. The manipulator’s whole passing through ability procedure was wrote and simulated in MATLAB software, and the obtained data was tested by coping into the real welding robot. The verification results showed the feasibility of the collision detection method and path planning method.