基于碰撞检测的六自由度工业机器人路径规划研究

Research of Path Planning of Six Degree of Freedom Industrial Robots Based on Collision Detection

工业机器人在自动化生产中发挥着重要作用,但在操作过程中容易发生碰撞,导致损坏或安全隐患。针对这些问题,研究融合轴对齐包围盒和有向包围盒设计出一种混合碰撞检测算法,并以此为基础,将人工势场算法融入快速随机树-连接算法中,设计出一种路径规划优化算法。结果显示,在不同场景中,设计算法的平均检测时间分别为28.3 ms和24.5 ms。此种算法有效缩短了任务完成时间,同时降低了机器人的能耗和运行成本。该算法对工业自动化领域的安全性和效率提升具有重要价值,有助于推动工业智能化的进程。

Industrial robots play an important role in automated production,but they are prone to collisions during operation,resulting in damage or safety hazards.To address these issues,a hybrid collision detection algorithm is designed by studying the fusion of axis aligned bounding boxes and directed bounding boxes.Based on this,the artificial potential field algorithm is integrated into the Fast Random Tree-Join Algorithm to design a path planning optimization algorithm.The results showed that in different scenarios,the average detection time of the designed algorithm in collision and non collision scenarios was 28.3 ms and 24.5 ms,respectively.This algorithm effectively shortens the task completion time while reducing the energy consumption and operating costs of the robot.This technological achievement has important value in improving the safety and efficiency of industrial automation,and helps to promote the process of industrial intelligence.