Research On The Path Planning Of 6-DOF Industrial Robot

With the development of computer technology and artificial intelligence,people's demand for robot is not only to complete the assigned tasks,but also guarantee the quality of work as much as possible on the basis of improving work efficiency and reduce the error in the actual operation requirements.At present,the robot in industry,agriculture,medical treatment,scientific research and other fields has a wide range of applications,and these applications require path planning.The purpose of path planning is to search for a collision-free optimal or sub-optimal path from the starting point to the target point in an obstacle-free environment according to a certain performance index.The six-degree-freedom mechanical arm has the characteristics of flexibility and maneuverability,and the structure is relatively complex and typical.Therefore,this thesis studies the problem of path planning for six-degree-freedom mechanical arm.In this thesis we consider the PUMA560 robot as the research object,and aim at the robot path planning problem.It is studied in the following aspects:Firstly,the background of research significance,and current development situation of industrial robot path planning research are introduced.Then the kinematics theory of the manipulator is introduced,-the kinematics model of PUMA560 robot is established by the D-H parameter method,and the positive and the inverse kinematics are solved,which offers guarantee for the continuity of below involved algorithm.Then the collision detection of the mechanical arm and the space obstacle is studied.This thesis introduces the collision detection model of AABB,OBB and k-Dops,and analyzes the advantages and disadvantages of it.The bounding sphere has a simple calculation,do not need to rotate with the object to update and other characteristics.The bounding sphere algorithm is used to simulate the obstacle detection.Finally,the artificial potential field method and A*algorithm is introduced and its advantages and disadvantages are analyzed.Aiming at the situation that the algorithm is easy to fall into the local minimum,an artificial potential path planning algorithm based on A*is proposed.The global planning of the A*algorithm is used to improve the artificial potential field method,and the shortest path without touching state is also planned.The robot can calculate the corresponding joint angle according to each path point,and then let the robot arm move to the corresponding position,so the robot arm can reach the target point without touching anything.In the thesis,the PUMA560 robot simulation model is built by the Robotics Toolbox in MATLAB,which is used to program the path planning algorithm.The run the program of the algorithm in the data path planning simulation on MATLAB platform.The experimental results show after applying the improved algorithm,the robot can reach the target point safely and without collision in the shortest in the absence of collision and the need to avoid obstacles and achieve the desired effect.