六自由度检修机械臂合理路径规划系统设计

为减少六自由度检修机械臂抓取动作花费的时间,设计一种六自由度检修机械臂合理路径规划系统。此次研究的系统硬件部分主要包含主控制器、伺服电机控制器与通信模块。系统软件部分,计算出机器人与障碍物之间的距离,并计算出所有机器人上点与障碍物之间的距离,采用设置虚拟障碍物的创新型人工势场法进行路径规划,避免传统人工势场法的弊端,以保证机器人与障碍物之间有一定的安全距离,以此完成六自由度检修机械臂合理路径规划。实验结果表明,在有障碍的情况下,此次研究的六自由度检修机械臂合理路径规划系统在2~4 min之内就能够完成抓取动作,并且此次研究的系统控制后的关节曲线较为平稳,证明此次研究的六自由度检修机械臂合理路径规划系统具有较好的控制效果,满足了系统设计需求。

Design of reasonable path planning system for six-degree-of-freedom maintenance manipulator

In order to reduce the time spent in grasping motion of 6-DOF maintenance manipulator,a reasonable path planning system for 6-DOF maintenance manipulator is designed.The hardware part of this research mainly includes the main controller,servo motor controller and communication module.The system software part calculates the distance between the robot and the obstacles,and calculates the distance between all the robot points and obstacles.The innovative artificial potential field method with virtual obstacles is used for path planning,so as to avoid the disadvantages of traditional artificial potential field method To ensure that there is a certain safe distance between the robot and the obstacles,the reasonable path planning of the 6-DOF maintenance manipulator is completed.The experimental results show that in the case of obstacles,the reasonable path planning system of 6-DOF maintenance manipulator can complete the grasping action within 2-4 minutes,and the joint curve after the system control is relatively stable,which proves that the reasonable path planning system of 6-DOF maintenance manipulator has good control effect and meets the system design Demand.