基于RRT-connect算法的充装单元六轴机器人避障路径规划

Obstacle Avoidance Path Planning of Charging Unit Six-Axis Robot Based on RRT-connect Algorithm

针对制冷剂充装单元空间有限、节拍较小等要求,提出基于改进RRT-connect算法的六轴机器人充装路径规划算法,能实时根据钢瓶在充装单元内的位置规划避障路径。首先,通过构建机器人与型材框架的定向包围框(Oriented Bounding Box,OBB)包围盒简化碰撞检测过程,改进RRT-connect算法中节点间路径碰撞检测方法。其次,采用增大OBB包围盒范围和减小步长的方式,实现机器人关节六维空间的避障路径规划。最后,利用3次B样条插值方法优化避障路径,使机器人更加稳定。机器人运动仿真结果验证了该方法的可行性。

Aiming at the requirements of limited space and small beat of the refrigerant charging unit,a charging path planning algorithm based on the improved RRT-connect algorithm was proposed for the six-axis robot,which can plan the obstacle avoidance path according to the position of the cylinder in the charging unit in real time.Oriented Bounding Box(OBB)bounding box of robots and profile frames was built to simplify collision detection,and the algorithm improved the path collision detection method between nodes in RRT-connect algorithm.By increasing the OBB bounding box range and decreasing the step size,the obstacle avoidance path planning of the robot joint in six dimensional space is realized.Finally,cubic B-spline interpolation is used to optimize the obstacle avoidance path to make the robot more stable.The simulation results of robot motion verify the feasibility of the proposed method.