青岛大学学报（自然科学版）2023，Vol.36Issue(4)：61-66,6.DOI:10.3969/j.issn.1006-1037.2023.04.10
大障碍物条件下机械臂无碰撞路径规划研究
Research on Collision-free Path Planning for Robotic Arms under Large Obstacles Conditions
摘要
Abstract
To realize the collision-free path planning for robot arm grasping and assembling movement in the workspace with many large and concentrated obstacles,a path planning method using the repulsive force field of artificial potential field method was proposed to improve the space A* algorithm.Firstly,the space A* algorithm for global search was used.Repulsion influence factors were added to modify the cost near the obstacle to improve the cost function.Then,setting the threshold value and the included an-gle difference were used to reduce the number of path nodes.Finally,the coordinate transformation-sec-ondary projection method between robotic arm and the work,and the separating axis theorem between tool and work was used to the collision detection simulation.The results of simulation and laser tracker meas-urement show that the number of path nodes is reduced by more than 30%,and the positioning accuracy of the manipulator is within 1mm.It can effectively generate a collision-free path within the space range.关键词
机械臂/路径规划/空间A*算法/碰撞检测Key words
robotic arm/path planning/A* algorithm in space/collision detection分类
信息技术与安全科学引用本文复制引用
刘建春,闫艺瑄,李伟,叶中赵..大障碍物条件下机械臂无碰撞路径规划研究[J].青岛大学学报（自然科学版）,2023,36(4):61-66,6.基金项目
福建省高校产学合作项目(批准号:2021H6036)资助. （批准号:2021H6036）
