Research On Obstacle Avoidance Path Planning Technology Of 6-DOF Manipulator

With the steady development of science and technology and driven by the era of"industry 4.0" and "made in China 2025",industrial production is gradually moving towards intellectualization.For example,the emergence of "intelligent warehousing",intelligent production" and "intelligent factory" has become inevitable,and the manipulator is one of the important members that cannot be obtained to realize intellectualization,It is also because the working environment of the manipulator is gradually open and complex,so the obstacle avoidance research of the manipulator has become inevitable.Therefore,based on Shenzhen Zhongwei 6-DOF xarm manipulator,this paper studies its kinematics,collision detection algorithm and obstacle avoidance path algorithm under the assumption of known external environment informationWith the steady development of science and technology and driven by the era of"industry 4.0" and "made in China 2025",industrial production is gradually moving towards intellectualization.For example,the emergence of "intelligent warehousing","intelligent production" and "intelligent factory" has become inevitable,and the manipulator is one of the important members that cannot be obtained to realize intellectualization,It is also because the working environment of the manipulator is gradually open and complex,so the obstacle avoidance research of the manipulator has become inevitable.Therefore,based on Shenzhen Zhongwei 6-DOF xarm manipulator,this paper studies its kinematics,collision detection algorithm and obstacle avoidance path algorithm under the assumption of known external environment informationFirstly,build an autonomous obstacle avoidance system.By analyzing the system requirements,designing the system architecture and system hardware and software selection,a reasonable robot autonomous planning obstacle avoidance system is built to verify the performance of collision detection algorithm and obstacle avoidance planning algorithm.Secondly,research and analysis of collision detection methods.After analyzing and studying the advantages and disadvantages of common bounding box algorithms in detail,this paper proposes a space segmentation method based on AABB bounding box.Firstly,the algorithm uses AABB bounding box to complete rough detection.If the detection results show that there is no collision between space objects,there is no need for fine detection,otherwise the space segmentation method will be used to complete accurate detection,Further judge the collision state between space objects.This detection strategy not only makes the detection algorithm have high detection efficiency,but also has high detection accuracy.Thirdly,research and analysis of obstacle avoidance path planning method.After a lot of study and Research on the robot arm obstacle avoidance algorithm,the RRT connect obstacle avoidance planning strategy based on artificial potential field method is proposed.In this method,the local repulsive force field and the global gravitational field are establ ished respectively based on the position of the obstacle and the target.Through the directional guidance of the repulsive force field and the gravitational field,RRT connect can select a better expansion point and direction.Therefore,the algorithm can obtain an approximate global optimal obstacle free path.Finally,simulation and experimental verification.Based on Shenzhen Zhongwei 6-DOF xarm manipulator,the performance of RRT connect algorithm based on artificial potential field is verified by experiments.The experimental results show that the RRT connect algorithm based on artificial potential field has high planning efficiency,and its obstacle avoidance path is also approximate to a global optimal path.