Obstacle avoidance trajectory planning method for redundant mechanical arm based on improved rapidly-exploring random tree

Abstract

The invention belongs to the technical field of automatic control, and discloses an obstacle avoidance trajectory planning method for a redundant mechanical arm based on an improved rapidly-exploring random tree. The method comprises the following steps of firstly, establishing a D-H model of the redundant mechanical arm and a simplified envelope model of an obstacle; secondly, according to the target pose of an end effector of the redundant mechanical arm, using an inverse kinematics analytical method of the redundant mechanical arm for solving a target joint angle meeting the requirement, and setting the target joint angle to be qgoal; thirdly, mapping the simplified envelope model of the obstacle to a joint space of the redundant mechanical arm, and further obtaining a collision-free free space of the redundant mechanical arm in the joint space; and fourthly, establishing a search tree in the collision-free free space by taking a node corresponding to the target joint angle qgoal as a target node, conditionally selecting a random sampling node according to a selection rule, introducing a search tree node screening mechanism, and finally planning a collision-free path in the collision-free free space.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to an obstacle-avoiding trajectory planning method for a redundant manipulator based on an improved fast-expanded random tree. Background technique [0002] Trajectory planning is the basis of the trajectory control of the manipulator, and its performance is of great significance to the work efficiency, motion stability and energy consumption of the manipulator. With the development of the application field of the manipulator, the working environment becomes more and more complex. When the redundant manipulator moves, it may collide with obstacles in the environment, resulting in the inability to complete the work task, which greatly limits the application of the manipulator. Therefore, the redundant manipulator It is very necessary to study the obstacle avoidance trajectory planning of the robot arm. [0003] The redundant robotic arm has a large range of mot...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a redundant robotic arm obstacle-avoiding trajectory planning method based on an improved fast-expanding random tree, which solves the problem that the traditional path planning algorithm takes a long time to calculate in the application of redundant robotic arms, and it is difficult to generate paths in actual work. Meet the requirements and other issues

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