| Traditional biosynthesis experiments are performed by researchers themselves,which are not only tedious,but also take a lot of waiting time.With the cost reduction of automation technology and the improvement of intelligence,in the biological synthesis experiment,by introducing the concept of industry 4.0 into the biological synthesis experiment and replacing human with automatic machine,the experimental efficiency and operational sensitivity will be greatly improved.With the continuous development of science and technology,robots have been rapidly developed and applied in China's industrial production,medical and health care,military activities and family services.Among them,the articulated robot simulates the human arm and is more flexible and versatile.It has been greatly developed due to its easy-to-control features and has been widely used in industrial production.In the research field of manipulator,obstacle avoidance path planning is one of the key technologies.Therefore,it is of great academic significance and application value to develop the obstacle avoidance path planning for the research on the motion control of the manipulator.In this paper,the six-DOF robot is taken as the research object,and its kinematics,the collision detection of obstacles,and the obstacle avoidance path planning algorithm are systematically studied.Firstly,the D-H method is used to establish the kinematics model of the six-DOF robot,and on the basis of this model,the forward kinematics formula is deduced.Then the inverse kinematics of the robot is analyzed and solved by using the inverse matrix of the manipulator transformation matrix,and multiple inverse solutions are obtained.Finally,the obtained multiple inverse solutions are screened through the actual operating conditions of the manipulator and the angular motion range of each joint.Secondly,according to the shape characteristics of the manipulator arm,three enveloping methods,including enveloping ball,AABB enveloping box and OBB enveloping box,are adopted to analyze the collision detection problem between the manipulator arm and obstacles that may exist in the process of path planning,and the collision detection result under the relationship between the spatial position of the manipulator and obstacles is calculated.At the same time,the artificial potential field algorithm in the path planning method is analyzed and studied in detail and applied to the motion control of the six-DOF robot.Finally,the above theory is verified on ABB IRB1200 robot and virtual simulation system.The results show that the robot can realize effective path planning under the condition of obstacles. |
PDF Full Text Request