Research And Application Of The Path-planning For Mechanical ARM Obstacle Avoidance

The path-planning for mechanical arm obstacle avoidance needs to slove the kinematics problem and inverse kinematics problem.The research on the solutions to forward kinematics problem is very mature,and a set of simple and universal solutions represented by the DH parameter method is formed.However,no reliable and universal solution has not been found for the inverse problem due to the existence of multiple solutions.a obstacle space under the use of quantum ant colony algorithm to calculate the general solution of inverse robotic arm.This paper proposes a general solution to the inverse kinematics problem for mechanical arm by using the quantum ant colony algorithm under the obstacle space.Firstly,make use of mechanical arm joint variables to establish the actual location of the mechanical arm matrix according to the DH parameters method,Secondly,calculate 2 norm of the difference between it and the set target position matrix,and then add the bounding box(OBB)collision and operational constraints of the space to construct objective optimization function F,which take the joint variables as independent variables.Finally,make use of quantum ant colony algorithm to search out the joint variables when the F function has the maximum value.Therefore the inverse kinematics problem of mechanical arm becomes a multivariate function optimization based on joint variables.Given the optimization search is slowed at the beginning of the basic ant colony algorithm and ants limit range is small and the algorithm of the optimal solution may be trapped in local minimum problem,this paper take advantage of parallelism computing from the quantum ant colony algorithm and three chain encoding mechanism.In addition,a quantum revolving door and NOT gate also are used improve the ant colony algorithm.The results show that the quantum ant colony algorithm can converge in the optimal F function rapidly.What is moe,it reduces dependency on ant population and expands the scope of spatial solution.In order to verify the algorithm's feasibility,this paper achieves mechanical arm kinematics simulation based on the MATLAB Robotic Toolbox,simulation model s of 6R mechanical arm and the sphere obstacles are established.At the same time,it also includes a path of real-time trajectory from the starting position to the target location.In addition,the experimental section achieves the motion control of the six-axis mechanical arm through Ether CAT communication between the master station(Twin CAT)with the slave station drive board(DSP).Finally,It is feasible to prove the algorithm by observing the control effect and experimental results.