Kinematics Analysis And Obstacle Avoidance Trajectory Planning Of 6-DOF Industrial Manipulator

With the introduction of the national "Made in China 2025" policy,our country's industry has begun to develop steadily in the direction of intelligence,and the robotic arm has played a leading role in this intelligent revolution.However,the development of the robotic arm,a special industrial product,is not only accompanied by improvements in machinery,but also with the intelligent development of mechatronics.Moreover,because the working environment of the robotic arm is particularly complex and is accompanied by dynamic changes,how the robotic arm can move freely and flexibly without collision during industrial production is a problem that needs to be solved in the current research.Six-degree-of-freedom manipulators are commonly used in industry and have strong applicability.Therefore,this article selects ROKAE XB6 six-degree-of-freedom manipulators as the research object of this article,and studies the kinematics analysis and collision detection methods of industrial manipulators.And trajectory planning methods,and verified by experiments,the main content of this article is as follows:(1)Analyze the kinematics formula.First,this article explores the mechanical structure of the ROKAE XB6 six-degree-of-freedom general manipulator,and then selects the DH modeling strategy to establish the kinematics model of the manipulator.Then,according to the principle of space coordinate conversion,the forward motion equation of the manipulator is derived,and Aiming at the characteristics of general manipulators,a solution method of manipulator inverse kinematics based on improved particle swarm algorithm is proposed.(2)Collision detection.In order to solve the difficulty of collision detection between the robotic arm and the obstacles in its working environment,this paper first studies the currently widely used collision detection methods,and then analyzes the characteristics of the six-degreeof-freedom robotic arm and proposes a fusion The collision detection strategy is verified by simulation experiments.(3)Robotic arm trajectory planning.By tracing the source of the error problem of the learning trajectory of the DMP algorithm,the feasibility of the algorithm is verified by a singledegree-of-freedom trajectory,and then multiple experiments with different types of basis functions are used to prove that the number of basis functions is The tracking error of the DMP reproduced teaching trajectory has an influence.(4)Experiment and analysis.Based on the ROKAE XB6 6-axis industrial robotic arm,combined with the obstacle avoidance trajectory planning method proposed in Chapters 2,3and 4,a virtual experimental platform is constructed with the help of VREP software to verify the trajectory planning method proposed in this article by simulation The feasibility.After that,a physical experiment platform is built,combined with the trajectory planning strategy proposed in this article,and actual experiments are carried out.The final simulation experiment and physical experiment both confirmed that the obstacle avoidance trajectory planning method combined with the kinematic analysis method of the six-degree-of-freedom industrial manipulator proposed in this paper is effective.Through experiments,it can be seen that the kinematic analysis method proposed in this paper combined with the collision avoidance trajectory planning method can successfully avoid obstacles in the workspace to achieve optimal motion.