Research On Motion Planning Based On Six Degrees Of Freedom Robot

With the development and expansion of the robotics research at home and abroad, the robotics technology is more and more widely applied, and six degrees of manipulator also play an important role in various fields. The motion control method of the robot is studied in this paper based on six degrees of freedom serial robot in a static environment. In the robot control system simulation platform realized by C++ program and OpenGL, the robot kinematics solver algorithm and RRT path planning algorithm are verified. Contents of this paper are divided into three parts, including kinematics analysis of robot, motion path planning and control system of the simulation. All parts are closely linked and nexus with each other. The main contents are as follows:(1) Positive and inverse kinematics analysis of the robot: We established Kinematic Model and link frame by using D-H parameters, which can do analysis of positive and inverse kinematics of the robot. The positive kinematics analysis is calculated by the coordinate transformation matrix between the coordinate system in this paper. Finally give its results. Then the inverse kinematics analysis is computed with double quaternion and resultant elimination method. And we program the method to get the result.(2) Robot motion path planning: Path planning is that we search for a possible and collision-free path from the initial point position to a specified destination point position in space with a static environment based on the six degrees of freedom manipulator, which the end of the robot can move from the initial point to the target point. First, the standard RRT algorithm is described in this paper, and then the direction vector is introduced to improve the algorithm. At last, a collision-free path from the initial point position to the destination point position is planed by the RRT algorithm.(3) Simulation control system implementation: To verify the correctness of the kinematic analysis and the path planning mentioned above, a six degrees of freedom serial robot control system simulation is realized by using the object-oriented C++ language and OpenGL. Many simulation experiments are implemented on the platform, such as coordinate system, positive and inverse kinematics analysis, the path planning of movement.The six degrees of freedom serial robot simulation control platform written and realized in this paper totally simulates the realistic model of the robot arm. The robot simulation system has some reference value for the development of the robot control theory.