| With the acceleration of the industrial automation process and the diversified needs of the market,industrial robots are broadly used in welding,assembly,handling,spraying,palletizing and different fields to promote the speed improvement of China’s production and manufacturing industry.In modern society,all kinds of intelligent equipment need a large number of wire harnesses as the carrier of information transmission between each device,and at present,the cable assembly process is mainly completed manually by the craft staff,with low efficiency and poor quality.This greatly affects the subsequent testing of the wiring harness and the safety of its use.Based on this,it is of great research significance to realize wiring automation and intelligence to ensure the quality of wiring harnesses and design automatic wiring systems.This paper takes UR3 collaborative robot as the research object,and based on the whole wiring,the industrial robot kinematics,collision detection algorithm,trajectory planning algorithm,and obstacle avoidance path planning algorithm are studied respectively,and the main research contents of the paper are shown as follows:(1)The UR3 collaborative robotic is used as the lookup object,and the mathematical model of the robotic is mounted by way of D-H parameter method,and the superb and bad kinematics is solved primarily based on the numerical evaluation method.Next,the workspace is analyzed by means of the Monte Carlo method.On this foundation,the collision detection problem in robotic arm path planning is studied,mainly introducing three envelope methods,AABB envelope box,cylinder envelope box,sphere envelope box,and according to the structural characteristics of the UR3 robot itself through the cylinder envelope,while the external obstacles are enveloped by the sphere,and the distance between the robotic arm and the obstacles is detected in real-time for collision detection simulation,for the subsequent wiring Robotic arm trajectory planning and path planning research to lay the foundation.(2)Aiming at the wiring quality problems caused by unsmoothness and jitter during the whole wiring process of the UR3 collaborative robot,this paper investigates robot trajectory planning,which is mainly divided into Cartesian space trajectory planning and joint space trajectory planning according to different spatial divisions.Based on this,two methods are used to simulate the motion of the wiring robot respectively and analyze the advantages and disadvantages of different methods.And based on satisfying the speed constraint,the 3-5-3 hybrid interpolation trajectory planning is optimized by improving sparrow search algorithm(sparrow search algorithm,SSA)to make the shortest wiring time,and the angle,velocity,and acceleration variation curves of six joints of the UR3 robot arm are obtained.Finally,the improved SSA is compared with the traditional interpolation trajectory planning and the improved particle swarm(particle swarm,PSO)algorithm,and it is proved that the method can not only improve the wiring time but also smooth the motion trajectory of each joint,which is good to help the robotic arm to get the best performance.(3)For the problem of obstacles in the wiring 3D environment of the UR3 collaborative robot,it is divided into static obstacles and dynamic obstacles,modeled and constrained according to the wiring 3D environment,and improved ant colony algorithm for obstacle avoidance path planning,mainly by introducing damping coefficients and improving information factors and heuristic factors to avoid falling into local optimum,which is optimized in terms of iteration number and path length.On this basis,the higher-order interpolation trajectory planning algorithm is used to optimize the perspective of every joint and further smooth the action trajectory.Finally,the MATLAB robotic toolbox is used for simulation,and the results show the effectiveness of the algorithm and the optimal path planning achieved. |
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