Analysis And Research On Obstacle Avoidance Path Planning Of Five-degree-of-freedom Lifting Platform

Robot is a multi-disciplinary crystallization of fusion control theory,mechanical electronics,computer,material and bionics,and has wide application prospect in practical engineering and production practice.In this paper,the five-degree-of-freedom lifting platform is taken as the research object,and the obstacle avoidance path planning and related technology research are carried out in the process of lifting.The main contents are as follows:(1)Firstly,the development status of obstacle avoidance path planning of industrial manipulator at home and abroad is discussed.Then,the research content and research methods of obstacle avoidance path planning based on five-degree-of-freedom lifting platform are determined in combination with engineering application requirements.Work in an orderly manner to lay the foundation.(2)The mathematical model of the five-degree-of-freedom lifting platform is established by using the D-H parameter method,and the positive kinematics calculation of the lifting platform is completed by homogeneous coordinate transformation.Selection of Geometric Method for Solving Inverse Kinematics of Lifting Platform.Finally,with the help of the kinematics of the lifting platform,the Monte Carlo method is used to simulate the working space of the lifting platform.The description of the lifting platform movement and the range of motion,and the theoretical guide for the study of the trajectory planning and obstacle avoidance problem of the subsequent lifting platform.(3)To study the movement characteristics of the five-degree-of-freedom lifting platform.The velocity and acceleration characteristics of the actuator at the end of the platform are analyzed,and the physical meaning of the Jacobian matrix is clarified.The singularity analysis of the lifting platform mechanism is carried out,which is the theoretical guide for the platform planning and obstacle avoidance.(4)The trajectory planning of the five-degree-of-freedom lifting platform is carried out from the joint space and the Cartesian space respectively.The advantages and disadvantages of the three algorithms of the cubic and quintic polynomial trajectories in the joint space are simulated and simulated.The simulation results show that the simulation results show that the simulation results can be obtained by combining the joint space trajectory planning algorithm with the analysis of the straight and arc trajectory planning algorithms in Cartesian space.And provide the theoretical basis for the study of obstacle avoidance in the next chapter.(5)Using the joint space and Cartesian space two angles to plan the lifting platform of the obstacle avoidance path.For the joint space avoidance path planning,the three-dimensional obstacle avoidance problem of the working space is transformed into the problem of the plane arm to avoid the obstacle circle by using the spatial mapping principle of the configuration space method,and the mapping of the C-obstacle space is established by the critical collision joint angle Calculate the model to obtain a closed and smooth obstacle,that is,the workspace of the obstacle avoidance conversion to the configuration of the spatial link joint angle calculation;for the Cartesian space obstacle avoidance path planning,according to the shape and location of obstacles,select the middle point so that each The curve path of the wire connection avoids the obstacle.Finally,two kinds of obstacle avoidance methods are simulated,and the simulation results and the advantages and disadvantages of the two algorithms are compared.It is proved that the two algorithms are feasible for the obstacle avoidance of the lifting platform.The joint space method is used to transform the joint space.The planning is more suitable for the analytical calculation of platform obstacle avoidance path planning.However,in the actual movement,Cartesian space obstacle avoidance path planning is simple and convenient.