基于DMP算法的六自由度工业机械臂避障轨迹规划方法

Obstacle Avoidance Trajectory Planning Method of Six-Degree-of-Freedom Industrial Manipulator Based on DMP Algorithm

随着国家智能制造相关政策的推出,我国迎来了工业智能化方面的研究热潮。由于工业机械臂的工作环境复杂,机械臂在工业生产时怎样完成灵活自如且不发生碰撞的运动,这是目前研究中亟待解决的问题。本文选取ROKAE XB6型号的六自由度机械臂作为研究对象,研究了关于工业机械臂的碰撞检测方法和轨迹规划方法,首先针对机械臂机体情况进行分析,依托层次包络法选用圆柱体与长方体包络法进行避障检测,后基于DMP算法分析其基函数的作用,得出基函数数目对跟踪轨迹误差有决定性影响的结论并加以实验验证,实验结果表明本文提出的避障轨迹规划策略是有效可行的。

With the introduction of national smart manufacturing related policies,China has ushered in a research boom in industrial intelligence.Due to the complex working environment of the industrial robotic arm,how the robotic arm move flexibly and without collision during industrial production is an urgent problem in current research.The paper selects the ROKAE XB6 six-degree-of-freedom manipulator as the research object,and studies the collision detection method and trajectory planning method of the industrial manipulator.First,analyzes the situation of the manipulator body and selects a cylinder based on the hierarchical envelope method.The obstacle avoidance detection is carried out with the rectangular parallelepiped envelope method,and then based on the DMP algorithm to analyze the role of the basis functions,the conclusion that the number of basis functions has a decisive effect on the tracking error is obtained and verified by experiments.The experimental results show that the obstacle avoidance trajectory planning strategy proposed in the paper is effective and feasible.