Path Planning And Twinning Of Six-axis Manipulator

The path planning of six-axis manipulator can reduce the manipulator movement time,improve the productivity and quality,and reduce the labor cost.The path planning of a six-axis manipulator needs to consider many self-static factors such as the structure,the range of motion and the limit of attitude,as well as the dynamic factors such as the joint angle,velocity and angular acceleration of the manipulator,the operating environment of a six-axis manipulator is very complex,and it has to face many kinds of obstacles,which requires the manipulator to move fast,safely and accurately.At present,although the research on six-axis manipulator path planning mainly focuses on the algorithm innovation,most of the algorithms are inefficient,and lack of adaptability,robustness and security considerations,with the increasing complexity of manipulator Operation Environment and task,the algorithm still has some limitations in dealing with complex environment and task.In this paper,the six-axis Manipulator ER7-900 is taken as the research object,aiming at the problems of path planning algorithm,such as lack of adaptability,low efficiency,low security in application etc in this paper,a Goal Bias-Artificial Potential Field Bidrectional-RRT~*(GB-APFB-RRT~*)path planning method for robotic manipulators is proposed.Firstly,by studying the structure parameters and kinematics properties of the six-axis manipulator,the six-axis manipulator kinematics modeling and the formula of forward and inverse kinematics are completed,and the kinematics is verified,based on the analysis of the characteristics of the six-axis manipulator path planning algorithm and the traditional path planning fast stochastic tree algorithm,the bidirectional evolutionary optimal expansion idea guided by the sampling target probability bias strategy is proposed,a GB-APFB-RRT ~* algorithm is designed to solve the problems of high blindness,weak spatial search ability and low efficiency in path planning On this basis,the adaptability and efficiency of the algorithm are verified by building four simulation environments of high-density abnormal obstacles.At the same time,the digital twinning test environment of the six-axis manipulator is constructed,and the data acquisition,transmission and storage methods of the solid manipulator are completed,finally,based on the NC turning machine tool,aiming at the process of loading,handling,clamping,turning and obstacle avoidance of the manipulator,based on the twin test platform,the obstacle avoidance path,kinematics attribute joint angle and joint angular velocity of the six-axis manipulator are analyzed and compared,and the effectiveness and safety of the proposed method are verified.The research method in this paper provides a new idea for efficient and safe path planning of industrial manipulator,which can be used to improve the efficiency of manipulator,it lays a foundation for the practical application of the manipulator path planning method.