Research On Obstacles Avoidance Path Planning Method Of Forestry Felling &cultivation Robot Manipulator

The forestry felling & cultivation robot was able to finish quickly in nurturing and harvesting,beating branches and returning piles,but the rapid movement of the manipulator and the alignment of the harvesting head needed to be further improved due to the complex working environment in the forest area.The research in this paper was directed to the research of the obstacle avoidance path planning of the manipulator of the forestry felling & cultivation machine to improve the efficiency of the forestry robot’s obstacle avoidance and grasping operation.The main research of this paper was divided into the following aspects:(1)Kinematic analysis of the manipulator of the forestry felling & cultivation machine.The manipulator model was developed using the improved D-H parameter method and the kinematic analysis was performed using the geometric method.(2)Manipulator of robot trajectory planning in two kinds of spaces.In order to ensure the continuity of the Cartesian space movement of the manipulator,the minimum energy method of the manipulator was proposed to solve the singular solution problem and the smooth movement of the manipulator was realized.(3)Multi-point collision detection algorithm of the forestry felling & cultivation manipulator.The classic collision detection calculated the shortest distance between the manipulator and the envelope model to judge the collision.This article combined the kinematics analysis of the manipulator and proposed a multi-point collision detection algorithm to simplify the calculation.(4)The forestry felling & cultivation manipulator obstacle avoidance path planning algorithm.In response to the problems of the classical Rapidly exploring random tree(RRT)algorithm,part of the idea of artificial potential field method was introduced and the Avoid-rapidly exploring random tree(A-RRT)algorithm was proposed.The acquisition path was not smooth enough between the two nodes.The threetime B spline curve fitting was used,which was more suitable for the motion of the manipulator.(5)Experimental simulation and verification.Firstly,Matlab was used to verify the effectiveness of the obstacle avoidance path algorithm proposed in this paper.Compared with the classic RRT algorithm,biasing RRT algorithm and bidirectional RRT algorithm,the proposed path planning algorithm improved the search efficiency by 95.9%,56.9% and 40.5% respectively.Secondly,using the Matlab robot toolbox to verify that the proposed algorithm was feasible,the experimental results proved that the algorithm could avoid obstacles to reach the target point.Finally,two robot simulation software,ROS and Coppelia Sim,were used to cross-validate the feasibility and effectiveness of the algorithm.According to the proposed modeling,simulation and analysis,the feasibility and effectiveness of the research on obstacle avoidance path planning for the manipulator of the forestry felling & cultivation machine studied in this paper were verified,and the obstacle avoidance path planning method for the manipulator of the forestry felling & cultivation machine was explored and established,which provides a reference for other forestry machines to avoid obstacles in the future.