Research On Optimal Path Planning For A 6-DOF Robot In Flexible Manufacturing System

In recent years,industrial robots with its high speed,high precision,high efficiency,and can operate in high-risk environment and other advantages,are widely used in all kinds of automatic production lines,gradually replace manual completion of high labor intensity,and a variety of harsh conditions of operation activities.However,with the increasing demand for robots in various fields,the accuracy of their tasks and adaptability to different environments are also increasingly demanding.In order to solve the problem that the traditional industrial robot is greatly affected by the working environment and relies on manual instruction,this paper takes the six-degree-of-freedom industrial robot as the carrier,introduces modern intelligent control algorithm on the traditional control strategy,so that the control system of the industrial robot can complete the real-time adjustment of the motion strategy according to different working conditions,and realizes the purpose of reasonable obstacle avoidance and fast and stable moving objects.Firstly,the pose description of the six degrees of freedom industrial robot is introduced,and then the standard DH parameter method and the improved DH parameter method of these two mathematical modeling methods are analyzed and compared,and the improved DH parameter method is selected to carry on the mathematical modeling of the six degrees of freedom industrial robot,to deduce the forward and inverse kinematics of the robot.And select the appropriate parameters,establish the model in Matlab simulation,verify the correctness of the solution.Secondly,based on the research of mathematical modeling and kinematic derivation of 6-DOF industrial robots,the realization of collision detection algorithm between 6-DOF robots and obstacles is expounded.Then the ant colony algorithm based on negative feedback is introduced and optimized by particle swarm optimization algorithm.In order to reduce the amount of computation,the collision distance detection is implemented using artificial potential field method based on the safety zone.In addition,the path search strategy can be changed according to different levels of safety requirements.Finally,the two algorithms are combined,and the gravity of potential field method is introduced,so as to improve the global optimization ability and convergence speed of the algorithm.Finally,the RV-4FR 6-DOF robot was taken as the object,and the simulation model and physical platform were established to verify the feasibility of the path planning method proposed in this paper.Experimental results show that the path planning method proposed in this paper can safely and quickly avoid obstacles and plan an optimal path during robot movement.