Study On Singularity Avoidance And Path Planning Of Six DOF Robot

The rapid development of computer technology has driven the technological upgrading of industrial robots.Nowadays,industrial robots have been widely used in manufacturing and other industries,and they have become the symbol of advanced scientific and technological strength.In the production workshop,the production operation is gradually converted from manpower to artificial intelligence.With the development of science and technology,the intelligent level of robots is continuously improved,and the research on intelligent algorithms is also deepening.Path planning has been the research direction of scholars in various countries.The innovation and optimization of intelligent algorithms for path planning have become the focus and difficulty of robot technology.Aiming at the problems of local minimum,kinematic singularity,convergence speed,calculation speed and so on in the intelligent algorithm,the IRB120 6-DOF robot of ABB Company is taken as the research object,and the obstacle avoidance path planning of 6-DOF robot is studied.(1)The kinematics model of the robot is established by using the improved D-H parameter method,and the forward and inverse kinematics equations of the robot are derived.The robot toolbox of the simulation software is used to simulate and verify the model.The reachable workspace of the robot is established in the three-dimensional space of the simulation software,which lays a mathematical foundation for the subsequent path planning.(2)Aiming at the kinematic singularity problem of robot in obstacle avoidance path planning,the singularity configuration is analyzed,and a new ’ singularity separation +improved exponential damping coefficient ’ algorithm is proposed.The simulation software is used to verify the effectiveness of the singularity avoidance algorithm,and the speed error is simulated and compared with other methods.(3)In the complex obstacle environment,the artificial potential field method is easy to produce the local minimum problem.The artificial potential field method and the improved RRT * algorithm are combined to avoid the local minimum problem in the path.The two algorithms are combined with the singular point avoidance algorithm to form a hybrid algorithm,and the simulation software is used to simulate the hybrid algorithm of obstacle avoidance path planning in three-dimensional space.The robot experimental platform is established to verify the feasibility of the hybrid algorithm in different environments and the effectiveness of avoiding local minima and kinematic singularity.