Research On Trajectory Planning Of 7-DOF Redundant Manipulator

With the increasing demand for intelligent transformation and upgrading of manufacturing in China,the use of robotic arms has gradually expanded from traditional industrial fields to various fields such as military,aerospace,catering and education,which also brings more complex application scenarios and greater operational difficulties.It is of some theoretical and practical significance to carry out the corresponding research.(1)The positive kinematic model of the seven-degree-of-freedom robot arm is first created using the modified D-H method,and the inverse kinematic solution is performed using the arm angle parameter method.The results of the forward and inverse kinematic analysis were then verified by creating a Gazebo model of the arm based on ROS.Finally,Monte Carlo and least squares methods are used together to obtain its accurate workspace.(2)For the problem of multi-objective trajectory planning,this thesis selects the joint space five times polynomial interpolation modeling and uses MOSPO algorithm for multi-objective trajectory planning under the condition of kinematic constraint of seven degrees of freedom redundant robotic arm with time,energy consumption and impact as optimization indexes.The simulation results show that the trajectory planned based on multi-objective particle swarm trajectory planning algorithm has significantly higher working efficiency,less energy consumption,and less shock and vibration.(3)A collision detection method of BBB is proposed for the collision problem of the robot arm itself during the collaborative planning process of two robotic arms,and the simulation verifies the accuracy and practicality of the method.For some shortcomings of the conventional RRT* algorithm,an improved RRT* algorithm is proposed,and the paths planned using the improved RRT* algorithm are verified to be smoother and take less time by simulation comparison.(4)Successful simulation verification of trajectory planning,collision detection and dual-arm collaboration based on ROS.The practicality and effectiveness of the improved algorithm in this thesis are verified by conducting single-arm grasping movement experiments and two-arm collaborative water pouring experiments on the AUBO MPR1 experimental platform.