Six-Degree-of-Freedom Robotic Arm Obstacle Avoidance Path Planning Research

When a 6-DOF manipulator is applied to three-dimensional space environment,it automatically finds the optimal path from the starting point to the target point through path planning algorithm,which is one of the core key points in robotics technology.In this paper,when the 6-DOF manipulator is applied to the three-dimensional environment,the obstacle avoidance path planning algorithm is time-consuming,and the algorithm flexibility and environmental adaptability are low.An attitude adaptive path planning algorithm based on A~* algorithm and artificial potential field method was proposed.1.Analyzed the structure of the 6-DOF manipulator,established the corresponding forward and inverse kinematics model,established the jacobian matrix of the manipulator,and analyzed the workspace and singular points,laying the foundation for the realization of the correct motion control and path planning algorithm of the manipulator.2.The polyhedron enveloping obstacle method is adopted to determine whether the end operator of the manipulator collides with the obstacle by judging the position relationship between the obstacle plane and the path point.The calculation method of the distance between the manipulator and the obstacles and the connecting rod collision detection method are given to judge whether the manipulator interferes with the obstacles in the environment.3.An attitude adaptive path planning algorithm for manipulator is proposed based on A~* fraction and artificial potential field method.Firstly,A path planning algorithm based on A~* algorithm was proposed to solve the defects of traditional A~* algorithm in search of multiple nodes and low computational efficiency,combined with polyhedron enveloping obstacle method.Based on the artificial potential field method,an adaptive attitude adjustment method of the robot arm is proposed.By optimizing and changing the attitude of the robot arm,the path result can be changed to avoid obstacles.4.Build simulation and experiment platform to verify the algorithm.Matlab and AUBO-I10 manipulator system were used to build the path planning simulation and experiment platform of the manipulator,which verified the effectiveness and environmental adaptability of the proposed algorithm,and verified the feasibility of the adaptive attitude adjustment method of the manipulator.The simulations and experiments show that the proposed path planning algorithm can effectively and quickly realize the obstacle avoidance path planning of the six-degree-of-freedom robotic arm,and the motion process is smooth and reliable.