Research On Safety Obstacle Avoidance And Path Planning Of Industrial Manipulator

With the development of modern social productivity,many high-precision operations are no longer limited to single person or single machine,and need multi role cooperation.In this context,human-computer cooperative production mode is widely used,and the hidden danger of workers and robots in this mode cannot be ignored.Therefore,it is necessary for industrial robots to automatically avoid obstacles and plan paths in the process of work.The main contents of this paper are as follows:First of all,the risk assessment of the industrial robot in the actual production is carried out,and the potential safety hazards and the areas that need to be improved are analyzed.The industrial robot selected in this paper is analyzed by D-H method,and the forward and inverse kinematics equations of the robot are deduced through the relationship between the joints of each link.The three-dimensional model of industrial robot is constructed by using the robot toolbox of MATLAB,and the correctness of forward and inverse kinematics equations is verified by simulation.After analyzing the advantages and disadvantages of each bounding box,the cylinder bounding box is selected to wrap the industrial robot,and the bounding ball is selected to wrap the obstacle,and the final collision detection mode is determined.Facing the problems of artificial potential field method,this paper uses potential function to replace potential field force function,and adds the factor of joint angle change of industrial robot into gravitational potential function,the factor of relative distance between robot current position and target position into repulsive force potential function,and adds temporary target point through RRT algorithm.Finally,the simulation is carried out.It is proved that the method selected in this paper can plan a safe and efficient path and ensure the safe obstacle avoidance of industrial robot.