Research On Six-Degree-of-Freedom Manipulator Path Planning Based On Improved PRM Algorithm

As mechanical arm gradually occupy the important position in the human social production,the intelligent and automation level is low problem also gradually appear,relative to the current demand in the human society,production of intelligent and automation level,the present market generally intelligent and low degree of automation,mechanical arm at work often need to manual operation and artificial teaching,On the one hand,this limits the application field of the manipulator,on the other hand,it greatly increases the risk and labor cost of the production work.In order to make the manipulator have a wider application field,it is of great value to explore a highly intelligent and highly automated path planning algorithm.First of all,to improve the efficiency of the manipulator inverse kinematics algorithm,using b-spline interpolation node joint position,the mathematical model of the mechanical arm in the cartesian space to analyze joint constraints,through the perturbation solution of external files,and delete in the target space is close to other solutions,research strategy in improving the efficiency of the quantum particle swarm optimization(pso)algorithm,On this basis,social learning mechanism and levy flight mechanism were introduced to improve the updating strategy of the potential well center,so as to ensure the diversity of the population in the late search period.The superiority of the improved CS algorithm was verified through simulation experiments and data,which laid a theoretical foundation for the obstacle avoidance path of the manipulator.Second,by sampling phase in the PRM algorithm is introduced into potential energy cost function,through to the end gives the gravity function,for obstacle space gives the repulsive force function,adjustment on sampling phase at the sampling position,make it difficult to distributed in space,and use edge set optimization method and the peak point extracting method,cutting path generation phase of port of path,It can be simplified into smooth broken line segment with fewer fold points,which greatly improves the path quality planned by PRM algorithm.On this basis,the smooth obstacle avoidance path of the manipulator is explored,and the simulation experiment verifies that the improved PRM algorithm has the advantages of higher narrow passage rate,less sampling point demand and higher path quality compared with the traditional PRM algorithm.On this basis,we strive to obtain a smooth obstacle avoidance trajectory of the manipulator with high efficiency,low energy consumption and fast reaction speed.