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A motion planning method for manipulator 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 not considering multiple repetitions to the same waypoint, reducing the efficiency of path expansion, etc.

Active Publication Date: 2022-06-07
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

Method used

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  • A motion planning method for manipulator based on improved rrt algorithm
  • A motion planning method for manipulator based on improved rrt algorithm
  • A motion planning method for manipulator 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 with reference to the accompanying drawings and embodiments.

[0035] In order to make the objectives, technical solutions and advantages of the method clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation examples described herein are only used for explanation and are not used to limit the present invention.

[0036] like figure 1 The basic workflow of the method can be described as follows: first, build the environment required for simulation in Robotic System Toolbox based on MATLAB platform; determine the starting point of the end of the manipulator pose and target pose, and use the toolbox to obtain the inverse kinematics solution; at the same time, analyze the working environment of the robotic arm, judge the obstacles and...

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Abstract

The invention discloses a motion planning method of a mechanical arm based on an improved RRT algorithm. The path planning method is mainly improved on the basis of the RRT algorithm. The direction of improvement is the three processes in the rapid expansion random tree algorithm, one is the process of sampling random points, and the other is the expansion process of new nodes. The last is the path optimization process for the obtained path. The improved algorithm can complete the path planning in a short period of time, the cost of the path will be smaller, and the structure maintains the original simplicity, and still performs well in high-dimensional space; the algorithm is applied to the joint space of serial robots In the process, the tandem robot can obtain a safe path when there are obstacles in the workspace; finally, the joint path of the robot can be fitted with B-spline curves to make the robot run more smoothly and smoothly.

Description

technical field [0001] The main content involved in the present invention is the motion planning of the manipulator, which mainly includes a manipulator motion planning method based on an improved RRT algorithm. Background technique [0002] Robot motion planning is a common problem in the field of robot research, and it is also a basic problem. Its purpose is to plan a safe path from the starting position to the target position for the robot, which must conform to some established constraints in its workspace. In the planning process of early robot path planning, the method of robot teaching control is often used. However, many early path planning methods are based on the planning algorithm of mobile robots, and the end of the robot is used as a particle 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 proposed and applied, su...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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