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Mechanical arm motion planning method based on improved RRT algorithm

A technology of motion planning and manipulators, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of reducing the efficiency of path expansion and not considering multiple repetitions to the same waypoint

Active Publication Date: 2021-05-18
ANHUI UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

This method has shortcomings: in the expansion process of the random tree, the problem of repeating to the same waypoint is not considered, which greatly reduces the efficiency of path expansion

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  • Mechanical arm motion planning method based on improved RRT algorithm
  • Mechanical arm motion planning method based on improved RRT algorithm
  • Mechanical arm motion planning method based on improved RRT algorithm

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Embodiment Construction

[0034] The specific structure and working principle of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0035] In order to make the purpose, technical solution and advantages of the method more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation examples described here are only for explanation, and are not intended to limit the present invention.

[0036] Such as figure 1 As shown, a method of manipulator motion planning based on the improved RRT algorithm, the basic workflow of this method can be described as: first, build the environment required for simulation in the Robotic System Toolbox based on the MATLAB platform; determine the starting point of the end of the manipulator pose and target pose, and use the toolbox to obtain its kinematics inverse solution; at the same t...

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Abstract

The invention discloses a mechanical arm motion planning method based on an improved RRT algorithm. The path planning method is mainly improved on the basis of an RRT algorithm, the improvement includes three processes in a fast expansion random tree algorithm, one process is a process for random point sampling, the second process is an expansion process of a new node, and the third is a path optimization process of an obtained path. According to the improved algorithm, path planning can be completed in a short time, the cost of the path is lower, the framework keeps the original simple characteristic, and the performance in a high-dimensional space is still good; the algorithm is applied to a joint space of a series robot so that the series robot can obtain a safe path under the condition that an obstacle exists in a working space; and finally, the joint path of the robot can be subjected to B spline curve fitting so that the operation of the robot is more stable and smoother.

Description

technical field [0001] The main content of the present invention is the motion planning aspect of the mechanical arm, which mainly includes a mechanical arm motion planning method based on the improved RRT algorithm. Background technique [0002] Robot motion planning is a common problem in the field of robotics research, and it is also a fundamental problem. Its purpose is to plan a safe path from the starting position to the target position for the robot, which must comply with some established constraints in the workspace. In the planning process of early robot path planning, the method of robot teaching control was often adopted. However, many early path planning methods are based on the planning algorithm of mobile robots, which regard the end of the robot as a mass point for planning. However, due to the irregular characteristics of the robotic arm in space, this is difficult to achieve. [0003] For the path planning of the manipulator, many algorithms have been pr...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 徐向荣陈肇星张卉查文斌
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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