Research On Obstacle Avoidance And Path Planning Of Six Degree Of Freedom Robotic Arm Based On Binocular Vision

With the rapid development of robotics in recent years,Due to the rapid development of robotics in recent years,robots are widely used in various fields such as manufacturing,service and aerospace industries.Due to the gradual complexity of the robot working environment,there may be various obstacles in the environment that affect the robot’s operation,which requires the robot to be able to move from the starting point to the end point and complete the specified task along a planned path while avoiding obstacles while working in an unknown environment.In this paper,we take the MJ05S-600 six-degree-of-freedom robotic arm of Da Ye Corporation as an example to study its obstacle avoidance and path planning when working in an unknown environment,and propose a path planning system that combines binocular vision and robotic arm obstacle avoidance.Firstly,the workflow of the system and the research contents are introduced,and the mathematical conversion relationship between the links of the robot arm is obtained by kinematic analysis,and the accuracy of the kinematic analysis is verified using the robot toolbox.The internal and external parameters and aberration parameters of the camera were obtained by calibrating the binocular camera with the MATLAB calibration toolbox.The hand-eye calibration between the robot arm and the camera was completed,and the position transformation relationship between the robot arm and the camera coordinate system was obtained.The position information of the obstacle in3 D space is obtained by using Canny operator edge detection,maximum threshold segmentation,minimum outer rectangle and binocular vision localization algorithm.Then,based on the principle of the wraparound box algorithm,the wraparound box collision detection algorithm based on a simplified model is proposed in conjunction with the research content of this paper on collision detection,using a cylinder with a larger radius than the robot arm linkage instead of the complete linkage model to intersect with the obstacle for testing,which speeds up the whole process of collision detection.In order to be able to quickly plan a collision-free path,the RRTconnect algorithm based on gravitational field guidance is proposed in this paper.The algorithm introduces a third root node on the basis of the RRT-connect algorithm,while superimposing a gravitational field on each of the three root nodes to guide the direction of random node generation and reduce the search range of the nodes on the invalid space,so that the path planning efficiency of the improved algorithm is significantly improved compared with the original algorithmFinally,material handling experiments are designed to verify the effectiveness of the system in a realistic environment.The built experimental model is compiled and deployed to run on the simulator to control the robotic arm to complete the experiments of obstacle avoidance and path planning in the material handling process.Through the collection and analysis of experimental data,the reliability of the path planning system combining binocular vision and six-degree-of-freedom robotic arm proposed in this paper is demonstrated.