Robotic Arm Obstacle Avoidance Path Planning Based On Improved RRT

With the rapid development of the global economy,higher requirements have been put forward for the development of robotic arms,etc.This thesis is based on the automation discipline and conducts research related to the problem of obstacle avoidance path planning for industrial robotic arms.This thesis focuses on the inverse robot arm solution algorithm and the robot arm obstacle avoidance path planning algorithm.In the kinematic study of robotic arm,the positive kinematic solution of robotic arm is simple,while the inverse solution may have multiple solutions or no solution,and the traditional algorithm for the inverse solution has the problems of large operation,long time and poor accuracy.To address the limitations of the traditional algorithm,the inverse solution is solved by the improved QPSO algorithm.Firstly,the QPSO algorithm is improved in terms of potential well center and potential well length.Then,the improved algorithm is used to solve the inverse kinematics of the robotic arm,and a more complete inverse solution is obtained to lay the foundation for the subsequent robotic arm path planning.The RRT algorithm is widely used in obstacle avoidance path planning because of its strong search capability,but the path search process is prone to problems such as long search path planning time and lengthy paths.This thesis addresses the problems of RRT algorithm by adding a two-point preference strategy,dynamically adjusting the gravitational force of the target point through the change of gravitational coefficient,adding a step control strategy to avoid the path search into local optimum,and introducing a non-uniform quadratic B spline to smooth the path.The envelope method is used for collision detection in the path planning process.Finally,the improved obstacle avoidance path planning scheme is applied to the robotic arm for simulation experiments and compared with the existing algorithm in the environment with the same obstacles.The simulation experiment results show that the improved QPSO algorithm proposed in this paper takes less time and has higher accuracy in finding the inverse solution.The improved RRT algorithm path planning has the advantages of strong environmental adaptability,fast convergence of algorithm,less path steps,and relatively short path length.In the complex working environment,it can still make the robot arm complete autonomous obstacle avoidance path planning.The algorithm also provides a reference for other related research in the field of obstacle avoidance path planning.