Research On Obstacle Avoidance Path Planning And Trajectory Optimization Of Industrial Manipulator For Disordered Grasping

Manipulator plays a very important role in industrial production,but in the past,the method of using teaching points to guide the manipulator to complete the action task is inefficient,and can not meet the needs.In addition,with the continuous development of intelligent manufacturing,the requirements of industrial manipulator gradually tend to intelligence and automation.For example,the robot arm needs to avoid the environmental obstacles to complete the task.Therefore,how to use the planning algorithm to make the manipulator to complete the task of grasping and ensure high efficiency becomes very important.To sum up the background,this paper improves the artificial potential field method to plan the obstacle avoidance path of the manipulator.Based on the obstacle avoidance path,the improved ant colony algorithm is used to optimize the manipulator with multiple objectives.The main contents of this paper are as follows:(1)The mathematical model of manipulator is established by using the improved D-H method.The position and attitude transformation relationship from base to end link is established by solving the transformation matrix between the links.The inverse kinematics algorithm of manipulator is constructed by combining numerical solution with geometric projection,and its accuracy is verified by simulation analysis.The dynamic equation of manipulator is constructed by Lagrange method and Newton Euler method,and its correctness is verified by comparison and simulation.(2)An improved artificial potential field method is proposed to deal with the case of searching for extremum.Based on the improved artificial potential field method,the additional potential field,direction decomposition search and variable step length strategy are proposed and applied to the path planning of manipulator.The simulation analysis is used to verify the search ability of path planning algorithm under different obstacles and the advantages compared with the conventional algorithm.(3)Based on the path of obstacle avoidance,the trajectory optimization model of manipulator is obtained by parameterization.An improved ant colony algorithm is proposed to solve the optimal set of optimization targets,and the comparison test is carried out on MATLAB/PlatEMO platform and other common algorithms.Based on the improved ant colony algorithm,the trajectory optimization model of manipulator is solved,and the multi-objective optimization scheme is obtained,and compared with the conventional S-type acceleration and deceleration algorithm.(4)The experiment of this algorithm is carried out on the disordered grab test platform of the manipulator,which verifies the feasibility of the algorithm.The simulation results show that the algorithm has some advantages in searching path length,number of steps and joint displacement of manipulator compared with the conventional algorithm;The trajectory optimization algorithm can get different optimization schemes,and has a certain effect compared with the S-type acceleration and deceleration trajectory planning algorithm.The feasibility of the algorithm is proved on the platform of the manipulator random grab test.