Kinematics Analysis And Obstacle Avoidance Path Planning Of 7-DOF Spraying Robot

The spraying robot is the preferred automatic spraying equipment for the spraying industry,which can effectively improve the spraying quality and spraying efficiency of the product and improve the working environment of workers.The traditional six-degree-of-freedom robot can satisfy the position and posture of the work demand in the Cartesian space,but the six-degree-of-freedom spray robot cannot guarantee that the end effector can reach the working posture while avoiding obstacles.Therefore,the 7-DOF painting robot with higher flexibility has received more attention,and its related problems have become a research hotspot.In order to solve the problem of obstacle avoidance on the inner surface of 7-DOF robot spraying products,this paper studies the inverse kinematics and obstacle avoidance path planning of 7-DOF spraying robot,and proposes an obstacle avoidance path algorithm and inverse kinematics solution.The main research contents are as follows:(1)The characteristics of the 7-DOF tandem robot are analyzed,and the superiority of the robot configuration of the human arm is expounded.Based on the 7-DOF painting robot model established in this paper,the forward kinematics is analyzed.Solved the robot workspace.(2)The inverse solution of the kinematics equation of 7-DOF spraying robot is solved by analytical method.The numerical solution of 7-DOF spraying robot is solved by iterative method.Based on the optimal flexibility optimization index,a method of using the initial value of the iterative method as the particle swarm algorithm is proposed,and the inverse kinematics of the 7-DOF painting robot is optimized.Aiming at the shortcomings of the basic particle swarm optimization algorithm,the accuracy is not high and it is easy to fall into local optimum.An improved PSO algorithm is proposed,which improves the initialization of particles,inertia weight,learning factor and cross-border processing.(3)Using the collision detection method combining capsule body and expanded ABBB bounding box,based on the double-tree RRT_Connect algorithm with faster convergence speed and higher efficiency,a kind of avoidance of 7-DOF painting robot in three-dimensional space is proposed.Barrier path planning algorithm.Firstly,the ROT_Connect algorithm is used to plan the obstacle avoidance path at the end of the 7-DOF spray robot.Then the triangle rule is used to optimize the path,and the inverse kinematics problem is solved for the optimized path nodes from the initial pose to the target pose.And the collision detection of each joint of the robot finally generates the collision-free motion path of the robot joint space.(4)The open source robot visual simulation software V-rep is used as the platform.For the planned 7-DOF painting robot obstacle avoidance path,the motion was simulated by V-rep software to judge whether the robot mechanism collided with the obstacle in the working environment,and the simulation verified the validity of the planned path.