Research And Application Of Obstacle Avoidance Planning And Teaching Technique For Robotic Manipulator In Narrow Channel

The narrow channel is a common operating condition of the manipulator.It is very important to realize the fast,safe and smooth operation of the manipulator in the narrow channel.Aiming at the problem that the manipulator of the manipulator is in the narrow channel condition,it still adopts the manual on-line teaching,which has the problems of low efficiency,difficulty,easy collision,cumbersome process and poor reusability.Teaching algorithm,establishing a narrow channel with dual expression of boundary constraints and voxel space,simulating the reach of the manipulator in the reachable space of the narrow channel,based on the improved genetic algorithm and the improved random extension tree respectively to realize the path guidance point search for different expression type narrow channel,The development of the mechanical arm obstacle avoidance planning virtual teaching simulation system,the generation of offline teaching procedures used in real manipulator operation,improve the efficiency of industrial robot arm operation,safety and reusability,and for narrow channel conditions Industrial arm operation to provide some technical support.In the first chapter,the research status of the narrow channel under the condition of manipulator obstacle avoidance planning key technology at home and abroad is reviewed,which includes the narrow channel expression and activity analysis,manipulator obstacle avoidance and path planning algorithm,the mechanical arm off-line simulation teaching,aiming at the shortcomings of the existing technology,and expounds the research significance and content of this article.In the second chapter,two methods based on boundary constraint and voxel space for narrow channels are presented.At present,the narrow channel is not clearly defined,definition and description are given a narrow channel,and then integrated configuration space method,the existing grid method and free space method,the boundary scan based on feature mapping expression and the method based on discrete grid intersection voxel space expression method,solve the spatial information of narrow passages it is difficult to accurately express the problem.In the third chapter,the motion modeling and a pre-analysis method for the manipulator are completed.Firstly,the motion mapping model of the manipulator is constructed based on the pose transformation to realize the mapping transformation between the joint space and task space.Secondly,based on the analysis of the inverse solution of the inverse problem,the optimal solution is obtained by the method of angular filtering and the shortest path method.Then,based on Monte Carlo method and point set,the intersection of the simulation manipulator in the reachable space of narrow access is analyzed.Finally,based on the tree structure,this paper presents the model of the manipulator operation in the narrow channel condition,and analyzes the interference between the manipulator and the narrow channel.In the fourth chapter,the algorithm of obstacle avoidance planning in narrow channel region is presented.An improved genetic algorithm for solving the boundary expression of narrow channel route guidance is put forward,which introduces the path distribution coefficient of improved genetic encoding,with the mechanical arm movement time,angle limit,such as interference factors of fitness,genetic algorithm to improve search efficiency and guide.In this paper,an improved random spanning tree is proposed to compute the narrow channel of the space expression of the disintegration space,and the evaluation function is introduced into the direction of the target node of the random spanning tree.Based on smoothing spline,the smooth processing of the path leading point is proposed to realize the safe,fast and steady operation of the manipulator in the narrow channel.In the fifth chapter,the virtual simulation system of industrial manipulator is developed.The overall design of the system and the function modules of the system are introduced.The system mainly includes the interface of the operation simulation,the virtual teaching box,the obstacle avoidance planning and so on.The system can realize the functions of manual teaching,programming teaching,teaching and teaching,obstacle avoidance planning and so on.On the basis of this system,the feasibility of the improved genetic algorithm is verified by the experimental platform of IRB 120 mechanical arm,and the simulation experiment of the obstacle avoidance planning of the manipulator is carried out.The sixth chapter summarizes the research contents and innovation points of this paper,and looks forward to the deficiencies and follow-up research.