机械科学与技术2024，Vol.43Issue(8)：1367-1377,11.DOI:10.13433/j.cnki.1003-8728.20230039
改进RRT*的6R机械臂运动规划研究
Motion Planning of 6R Manipulator with Improved RRT* Algorithm
摘要
Abstract
In the motion planning of a 6R manipulator,there are some problems such as strong randomness of path search,low success rate and poorsmoothness of generated trajectory.In order to solve these problems in path planning,an improved asymptotic optimal fast random spanning tree(RRT*)algorithm and the non-uniform quintic B-spline function combined with genetic algorithm for trajectory planning are proposed.Firstly,the RRT*algorithm is modified with the adaptive target offset strategy,the local node rejection strategy and the sliding sampling pool strategy based on the Sobol sequence to improve the planning efficiency.Then,The non-uniform quintic B-spline function is used to smooth the motion path,and the genetic algorithm is combined to optimize the running time and reduce the impact,thus achieving the trajectory planningand ensuring the safe,smooth and fast operation of the 6R manipulator.The simulation results show that the 6R manipulator does not touch obstacle or reach the target pose and that the trajectory of each joint has a high-order continuity,significantly reducing the time of path planning and manipulator operation.The experimental results verify the effectiveness of the algorithm.关键词
RRT*/路径规划/轨迹规划/五次B样条/遗传算法Key words
RRT*/path planning/trajectory planning/quintic B-spline/genetic algorithm分类
信息技术与安全科学引用本文复制引用
栾庆磊,周希勇,史艳琼,李克凡,邓从龙,朱广,陈中..改进RRT*的6R机械臂运动规划研究[J].机械科学与技术,2024,43(8):1367-1377,11.基金项目
国家重点研发计划(2018YFB2003801)、安徽建筑大学校引进人才及博士启动基金项目(2019QDZ16)、安徽省高校优秀青年人才支持计划(gxyqZD2018058)及安徽省高校协调创新项目(GXXT-2019-020) （2018YFB2003801）
