Research On Path Planning In Complex Space Environment Based On 6R Serial Manipulator

With the development of artificial intelligence and automation technology,the traditional manipulator work with repeat actions can't meet the trend of the times.In the current wave of science and technology,it needs a higher intelligence and autonomy for the manipulator.This thesis conduct a research on obstacle avoidance path planning in static environmentbased on RBT-6T/S03 S 6R serial manipulator.The main contents includes building of the kinematics model of 6R serial manipulator,positive and inverse kinematics analysis,path planning based on improved RRT and APF,and experimental verification.All of these works keep on with each other,and the details are as follows:(1)Building of the kinematics model: The kinematics model is the basis for the research of obstacle avoidance path planning of manipulator.Firstly,this thesis presents the mathematical formulation of the space pose of manipulator,and then investigates the space coordinate transformation.At last,the D-H coordinate system of the manipulator is established,and the linkage variation matrix of the manipulator is given.(2)Positive and inverse kinematics analysis: Under the D-H coordinate system of the manipulator and combining with the linkage variation matrix of the manipulator,firstly,it gives out the positive kinematics equation of the manipulator,and then presents the inverse kinematics of the manipulator respectively based on analytical method and RBF neural network.(3)Path planning:Based on the works achieved above,this thesis based on the traditional single-RRT and combines with the kinematic constraints of manipulators,expandsthe single-RRT from two-dimensional plane to three-dimensional space to do path planning for the manipulatorin the Cartesian Space,then use the bi-RRT to improve the traditional single-RRT algorithm.At last,proceed from the joint space,and use the potential function to replace the synergistic effect in the traditional Artificial Potential Field(APF)methodto carry out the space obstacle avoidance path planning of the manipulator.(4)Experimental verification: This thesis designs four experiments,including positive kinematics experiment,inverse kinematic experiment,path planning experiment based on RRT algorithm and path planning experiment based on APFmethod to verify theeffectiveness of the method proposed in this thesis.Through experimental analysis,the research works done in this thesis havecertain practical application value and reference significance,and it is feasible and effective.