Obstacle Avoidance Path Planning And Trajectory Optimization For Industrial Robot

With the continuous improvement of automation in the industrial field,industrial robots have gradually replaced human beings to become an important part of the intelligent factories.The application environment of robots in the industry is becoming more and more complex,and the requirements for the accuracy and efficiency of their operations are also increasing.In this paper,the problem of motion planning for complex tasks of robots in dense production line is studied,including the global obstacle avoidance path planning of industrial robots and the motion trajectory optimization of robots.This article first introduces the various parameters of the research object-industrial robot.Based on Denavit-Hartenberg method to establish link coordinate System and deduce the forward kinematics.Taking the wrist point of robot as the transition point,the inverse kinematics of robot is solved by combining geometric method and analytical method.The Monte Carlo method is used to map the working space of robot,and the problem of singular point in the workspace is analyzed.Simulation results show that the kinematics of the robot is correct.Then,the path planning of robot in Configuration Space is studied.AABB bounding box method and bounding ball method are used to establish the collision detection model of robot and obstacle respectively.RRT~*algorithm with target bias probability was used to search the path,and add the node position update strategy to smooth the generated path.Respectively,The robot obstacle avoidance platform in simple environment and complex environment is established.Simulation results show that the improved RRT~*algorithm has higher path synthesis optimization performance than the RRT algorithm and RRT~*algorithm.Then,trajectory planning of robot based on Cartesian space and Joint space is studied.Combining with the characteristics of two kinds of space trajectory planning,Joint space planning is used to transition the beginning,end and corner segments of Cartesian space planning.Set up the contour trajectory tracking platform of robot.Simulation results show that the method can effectively improve the motion stability of the robot.Considering the comprehensive performance of industrial robots,the time-energy-impact optimal mathematical model of robot is established.The multi-objective optimization solution of the model was carried out by using the NSGA-?algorithm.Simulation results show that the NSGA-?algorithm has better Pareto Frontier quality for the trajectory optimization problem of robot.Able to select the optimal solution according to the actual engineering requirements.Finally,the obstacle-avoiding platform of robot is built.The communication between the upper computer and the robot is completed through TCP/IP protocol based on Ethernet.Design a visual window to achieve bidirectional transmission of data.The path information of obstacle avoidance is sent by the upper computer to complete the obstacle avoidance experiment of robot.