Seven-DOF Manipulator Obstacle Avoidance Path Planning Based On Improved Beetle Antennae Search Algorithm

From "Industry 4.0" to "Made in China 2025" to "Industrial Internet",all indicate that the current industrial development is gradually moving towards intelligent,and intelligent manufacturing is the general trend.And the relevant technology in the field of manipulator is an indispensable part of the industrial battle.The manipulator working in the production line is the basic executor of intelligent manufacturing.How to ensure their accurate,safe and efficient operation in the production work has become an important topic in the field of intelligent manufacturing research.Among them,compared with the common 6-DOF manipulator,the 7-DOF redundant manipulator can optimize its kinematics and dynamics characteristics with higher fault tolerance.At the same time,due to the increasing difficulty of research,the development potential of theoretical research on 7-DOF redundant manipulator is quite high and has great research value.This paper takes Baxter,an intelligent dual-arm cooperative robot widely used in the world,as the research object to study the obstacle avoidance path planning problem in the environment with complex obstacles.The research contents mainly include:1)Experimental platform modeling was carried out for Baxter robot and its working environment based on ROS robot operating system environment,and the overall path planning process was analyzed.The kinematic modeling of Baxter 7-DOF manipulator was carried out,and the visual model,physical properties and collision model of online simulation environment were modeled,and a complete simulation platform for path planning algorithm was established.At the same time,the application processes of kinematics solution,collision detection,path planning and trajectory planning are sorted out,which lays a good foundation for the research of obstacle avoidance path planning algorithm.2)Based on the Beetle Antennae Search algorithm,it is improved for the obstacle avoidance path planning requirements of the manipulator,and the algorithm was applied to the experimental study of Baxter 7-DOF manipulator.On the basis of Beetle Antennae Search algorithm,some improved designs,such as search direction optimization,quaternion interpolation motion pose planning,variable step size search,initial waypoint screening,initial path pruning and bidirectional search,were proposed,which solved the problems of high dimensional complex multi-extremum processing and poor adaptability of the original algorithm.Experimental results show that the improved Beetle Antennae Search algorithm can achieve an effective path without collision in the working environment with obstacles,and the improved algorithm has stronger obstacle avoidance path planning ability than the original Beetle Antennae Search algorithm.3)The improved Beetle Antennae Search algorithm was further optimized and applied to the obstacle avoidance path planning of Baxter 7-DOF manipulator.The individual of beetle is extended to a group,which improves the single search efficiency of beetle and the possibility of obtaining the global optimal solution.The experimental results show that the further optimized Beetle Antennae Search algorithm can better complete the obstacle avoidance path planning task of the 7-DOF tandem manipulator,and further optimize the running path in three-dimensional space by increasing the small amount of calculation,and the path effect of this optimization algorithm is better than other path planning algorithms.