Research On Obstacle Avoidance Path Planning Of Multi-DOF Industrial Manipulator

Industrial manipulators are widely used in various job scenarios,which can improve production efficiency,ensure production quality,improve work environment,and enhance safety.When industrial manipulators perform tasks in an environment with obstacles,they will be disturbed by obstacles,which will affect the operation of the robotic arm.By using obstacle avoidance path planning algorithms,the manipulator can avoid collisions with obstacles during operation,while also helping to optimize its motion path,reduce energy consumption and motion time,and improve production efficiency.This paper takes obstacle avoidance path planning of six degrees of freedom manipulator as the research background.Firstly,the kinematics model of the manipulator is built;Then a fast and effective collision detection method was designed;Secondly,simulation research was conducted on obstacle avoidance path planning of the manipulator using improved RRT algorithm and improved SAC algorithm;Finally,a comparative analysis was conducted on the performance of different algorithms in obstacle avoidance path planning for manipulators.The main work completed and conclusions obtained in the paper are as follows:(1)The screw method is used to model the kinematics of the manipulator.The manipulator used in the simulation experiment has six degrees of freedom.The screw method is used to establish the joint coordinate system between the links,and the forward kinematics analysis of the manipulator is carried out,so as to complete the kinematics modeling of the simulation experiment.(2)A collision detection method for manipulators using the GJK algorithm has been designed.After comparing the different characteristics of the envelope box algorithm,GJK algorithm,and SAT algorithm in collision detection,the GJK algorithm was selected as the collision detection method for the manipulator after comprehensive analysis.For common obstacles with small differences in width and height,the sphere envelope method is used to envelop the obstacles.For the links of the manipulator,the convex hull algorithm is used to abstract the links of each manipulator into convex polyhedron.(3)Simulation research on obstacle avoidance path planning of manipulators based on improved RRT algorithm.Considering the blindness of the RRT algorithm in exploring the path,an improved RRT algorithm is proposed to enhance its directionality and reduce the probability of falling into local minima during the exploration process.In the Mathematica simulation environment,obstacle avoidance path planning simulations were conducted using the RRT algorithm,RRT * algorithm,and improved RRT algorithm,respectively,to analyze and compare the performance of different algorithms.(4)Simulation research on obstacle avoidance path planning of manipulators based on improved SAC algorithm.Provided a model for obstacle avoidance path planning of manipulators,improved network structure of SAC algorithm,set model parameters,and obtained obstacle avoidance path planning strategies through continuous training of the model.Use the trained strategy to plan the obstacle avoidance path for the manipulator and compare it with the improved RRT algorithm.The simulation experiment results show that different algorithms can complete the obstacle avoidance path planning task of the manipulator.The planning efficiency of RRT algorithm is low;The RRT * algorithm can achieve asymptotic optimization,but it requires a large amount of computation;The improved RRT algorithm has high planning efficiency but no guarantee of success rate;The model trained using the improved SAC algorithm can obtain optimized paths,with high path planning efficiency and stable output.