Research On Obstacle Avoidance Path Planning Of A New Controllable Metamorphic Palletizing Robot

As an indispensable part of today’s life,industrial robots can greatly improve the production efficiency.The metamorphic palletizing robot is an industrial robot that can undergo configuration transformation.At present,there are many researches on obstacle avoidance path planning for industrial robots,but less research on obstacle avoidance path planning for metamorphic palletizing robots,especially for the combination of configuration transformation and obstacle avoidance,which restricts metamorphic palletizing.The range of engineering applications of robots.In this paper,a new type of controllable metamorphic palletizing robot is mainly studied from two aspects:obstacle avoidance path planning and the development and construction of a visual virtual simulation platform.Among the many obstacle avoidance algorithms,A*,which is suitable for metamorphic palletizing robots,is selected.Algorithms,combined with configuration transformation and obstacle avoidance,put forward targeted improvements,and built a visual virtual simulation platform to conduct visual virtual simulation experiments and physical prototype experiment.Firstly,the kinematics analysis of the new controllable metamorphic palletizing robot is carried out,and the metamorphic plane coordinate system and the global coordinate system are established respectively,and the coordinate transformation relationship between them is given.The closed-loop vector method is used to solve the positive solution of the robot kinematics.Use mathematical analysis to solve the inverse robot kinematics solution and determine the robot workspace.At the same time,a binocular camera is installed next to the robot end effector and a calibration experiment is carried out.The internal and external parameters of the camera obtained from the experiment are combined with the BM algorithm to develop a program to complete the identification and positioning of obstacles,and the information of obstacles is carried out in the global coordinate system.describe.Secondly,the requirements for configuration transformation and obstacle avoidance of the metamorphic palletizing robot in path planning are analyzed,and the A* algorithm with metamorphic cost is proposed,which can analyze the metamorphic points existing in the movement process and automatically select the best one.The metamorphic point is moved to the optimal metamorphic point for configuration transformation and obstacle avoidance.Based on the improved A* algorithm,an obstacle avoidance path planning method for the metamorphic palletizing robot is proposed.Then,it analyzes the demand of metamorphic robot to build a visual virtual simulation platform,and clarifies the development idea of modularization.Based on the Visual Studio compilation environment,use C# language to develop form applications,develop robot model modules,kinematics modules,obstacle avoidance path planning modules and preview modules,develop visualization modules based on 3D modeling software,and build a visual virtual simulation platform.Finally,the visual virtual simulation experiment of the metamorphic palletizing robot is carried out by using the visual virtual simulation platform,and the physical prototype experiment is carried out to analyze the obstacle avoidance movement of the robot and the smoothness of the obstacle avoidance path.The experimental results show that the planned path can avoid obstacles smoothly,the obstacle avoidance path is relatively smooth and meets the needs of the robot.The feasibility and scientificity of the proposed obstacle avoidance planning algorithm are verified.