Research On Manipulator And Path Planning

With the progress of technology and the change of forestry work mode, it is an essential trend to develop the multifunctional technique equipment which is combined with intensive fostering and cutting. As the offspring of high-tech, manipulator will be the nucleus of forestry equip consequentially. Grounding on the special project "Research and development on multifunctional equipment with key technique of fostering and cutting combined operation", a mature, convenient and adaptable manipulator system will be developed. At first, the kinematics of manipulator is analyzed, and the model of our manipulator is set and simulated under MATLAB7.0. Then the cell decomposition algorithm is introduced to resolve the exponential growth of computation with robot degrees of freedom (DOF) with its parallel process. Operating in the configuration space, the work space obstacles are transformed into the forbidden regions and further the grid info of the C-space. As result, the complex dimension converts to plane information. Finally, the heuristic A-star algorithm is applied to achieve the obstacle avoidance path planning.Simulation results show that with our planning results, the manipulator could reach the destination and avoid the obstacles synchronously. Robotics and artificial intelligence are applied in forestry engineering in this paper aim to found the academic footstone for the practical manipulator system and improve efficiency of forestry production.