Research On Mechanical Arm Trajectory Planning And Obstacle Avoidance Method Based On Joint Simulation

With the continuous development and progress of robots and artificial intelligence in the scientific research field,the trajectory planning and path planning of the manipulator has been a hot research topic t in trajectory planning include the running speed of each joint of the manipulator,thehat researchers have been constantly paying attention to.The key points to be considered acceleration during operation,and the acceleration.The main task of obstacle avoidance path planning is to use a reasonable collision detection method to plan a collision free path that will not encounter obstacles under the working environment with obstacles,which can enable the robot arm to successfully execute the operation task and reach the designated expected position.Trajectory planning and obstacle avoidance path planning play an important role in the successful operation of the robot arm.Based on the existing domestic and foreign mechanical arm trajectory planning and obstacle avoidance path planning method research and the present situation,select the research object,establish mechanical arm kinematics model,and on the model,based on the six degrees of freedom robotic arm trajectory planning and obstacle avoidance path planning method research.According to the trajectory planning of the joint simulation test is realized,and the feasibility of the joint simulation is verified.The main research contents of this thesis are described as follows:(1)First,the D-H model of the six DOF manipulator is established.Modeling and kinematics analysis of the manipulator is the premise of trajectory planning.The purpose of modeling is to observe the trajectory change of the manipulator more clearly;The forward and inverse kinematics analysis is to realize the mutual conversion between the joint angle and the position and pose of the manipulator.Based on the D-H parameter table of the manipulator,this thesis uses Robotics Toolbox in MATLAB to build the physical model of the manipulator,and then deduces the formula for the conversion process of angle and position and pose in forward and inverse kinematics,which provides a theoretical basis for trajectory planning research.(2)Based on the kinematics principle of the robot,the trajectory planning of the manipulator is studied in joint space and Cartesian space respectively.In the joint space,polynomial interpolation is used to plan the trajectory of the manipulator,and the kinematics of the planning process is derived;In Cartesian space,the trajectory planning process of linear interpolation and circular interpolation is deduced and analyzed respectively.Finally,the fitting simulation is carried out in MATLAB.(3)When studying obstacle avoidance path planning,select appropriate collision detection method,establish reasonable collision detection model,discuss artificial potential field algorithm and A * algorithm respectively,and provide appropriate solutions.In the aspect of artificial potential field algorithm,the improved artificial potential field method is adopted.After searching the path,the path is divided into two sections,and the path is searched separately by using the small step search method;A *algorithm is used to discretize the workspace of the manipulator,and the discrete cube vertices are used as search nodes in 3D space to plan the obstacle avoidance path of the manipulator.(4)The trajectory planning and obstacle avoidance path planning of the manipulator are simulated on HOOPS platform and MATLAB platform.This thesis introduces the basic composition of HOOPS platform,and verifies the effectiveness and correctness of the joint simulation method by comparing independent MATLAB/Simulink simulation with joint simulation.