On Kinematics And Path Planning Of 6-DOF Manipulator

In the context of "Made in China 2025",China's manufacturing industry has embarked on a wave of research focused on the intelligence of robots.Six-degree-of-freedom robotic arms are widely used in the manufacturing industry because of their high reliability and versatility.However,due to the many uncertainties in the working environment where the robotic arms are located,it is a challenge for the research of robotic arms to plan a collision-free path from the starting point to the end point using a certain strategy.To address this topic,this dissertation proposes an obstacle avoidance path planning method combining an improved Artifical Potential Field Algorithm(APFA)and an inverse kinematic solution method with a six-degree-of-freedom robotic arm as the research object.The research content of this dissertation is as follows:(1)The standard D-H method is used to represent and model the six-axis robotic arm,and the mathematical equations are used to derive the positive and negative kinematics equations,and the correctness of the model and equations are verified by simulation with MATLAB simulation software.(2)In order to analyze the values of joint angles corresponding to the path nodes generated by the robotic arm for path planning in the workspace,an improved cuckoo algorithm HCS(Halton Sequence of Cuckoo Search Algorithm)is proposed for solving the inverse kinematics problem.Simulation results show that this method has higher solution speed and higher solution accuracy than the classical cuckoo algorithm and its derivatives as well as other swarm intelligence algorithms.(3)A collision detection algorithm based on the simplified cylindrical and spherical envelope method is designed for the collision detection problem of robotic arm and obstacle.Then an improved artificial potential field algorithm is proposed,which makes the comprehensive performance of the algorithm improved.In the working space of the robotic arm,realize the 3D path planning by improving the artificial potential field method,and use the third-order Bessel curve to smooth the path,and obtain the optimal joint angle combination during the motion of the robotic arm by inverse kinematic solution to realize the obstacle avoidance path planning.(4)The 3D modeling software Solidworks and the motion simulation software Adams are used to build a virtual prototype of the robot,conduct simulation experiments on the obstacle avoidance path planning method proposed in this thesis,and build a physical platform for action demonstration,and do error comparison analysis with the simulation experimental results.It has been verified that the proposed obstacle avoidance path planning method enables the robotic arm to achieve optimal path planning with both its own linkage and end-effector avoiding spatial obstacles.