Research And Implementation On Path Planning Of Industrial Robot Towards Safety Assurance Of Human-robot Collaboration

Industrial robots have been widely used in many manufacturing fields such as automobile,aerospace and medicine,bringing great convenience to people's production and life.With the continuous development of industrial robot technology,industrial robots are no longer complete substitutes for human,but need to work collaboratively with human to accomplish complicated tasks together.A key factor in human-robot collaboration is the safety of industrial robots,that is,industrial robots do not directly or indirectly harm human in their workplaces under normal or malfunctioning conditions.Therefore,research on the active collision avoidance and path planning methods of industrial robots can effectively improve the safety of industrial robot systems.Aiming at the problem that traditional obstacle avoidance research for industrial robots is mainly to study the collision avoidance of objects,and does not consider that humans are obstacles,this paper deeply studies the obstacle avoidance path planning and implementation of industrial robots under human-robot collaboration environment.The main research content of this paper is as follows:(1)Research on kinematic modeling and collision detection of industrial robots.According to the relevant theoretical knowledge of kinematics of industrial robots and its ontological mathematical parameters,the kinematics model of industrial robots is established,and the solutions of forward kinematics are derived,as well as the working space of industrial robots is solved.By analyzing the performance of common bounding boxes such as bounding spheres,AABB,OBB,and K-Dops,and combining with the actual human-robot collaboration environment,collision models based on cylinders and bounding spheres are proposed as human-robot collision detection models The model is simple and efficient and can improve the real-time performance of the system.(2)Research on human-robot collaboration security strategy and real-time path planning.The improved artificial potential field method is proposed as the path planning method for industrial robots,and the joint angle distance is introduced into the attractive potential function to make the planned path smoother.The distance between the end effector of the industrial robot and the target point is introduced into the repulsive potential function to solve the target unreachability problem of the traditional artificial potential field method.For the local minimum problem,the method of establishing a virtual target point is adopted.The improved artificial potential field method has fast calculation speed and good real-time performance,and is more suitable for a dynamic human-robot collaboration environment.For security problems in human-robot collaboration,a security strategy based on precise motion speed control is proposed.On the basis of dividing the working space of industrial robots,the human-robot distance is used to adjust the operating speed of industrial robots in real time,and the security of the system is improved.(3)Design and implementation of industrial robot path planning system.Based on IRB 1200 industrial robot system,Kinect V2 sensor and other experimental equipment,combined with virtual simulation technology,the industrial robot path planning system is designed and developed.Using the dual Kinect system to accurately collect human skeleton information,and establish a virtual simulation system to verify the performance of the algorithm and adjust the parameters of the algorithm.Simulation and experimental results show that the proposed algorithm can achieve the overall obstacle avoidance of industrial robots,and the planned path is smooth,indicating that the algorithm is effective and feasible.