基于改进人工势场法的机械臂路径规划仿真

为解决六自由度机械臂在工作空间中的路径规划问题,提出一种改进的人工势场法与快速随机搜索树(RRT)算法相结合的规划方法。以发那科M-20iA工业机器人作为研究对象,选取其各连杆D-H参数并创建坐标系,分析其正运动学问题。然后采用包围球包络障碍物、圆柱体包围盒包络机械臂,将碰撞问题转化为球心到圆柱体中轴线最短距离的问题。接着改进势场法的势函数,并在机械臂进入局部极小点时改用RRT算法使机械臂跳出该点,之后继续采用势场法规划路径到达目标点。最后在MATLAB中对该改进算法进行仿真,仿真结果证明:该算法可以成功避障,保证机械臂平稳运行至目标处。

Simulation of Path Planning of Manipulator Based on Improved Artificial Potential Field Method

In order to solve the path planning problem of 6-DOF manipulator in workspace, an improved artificial potential field method combined with rapidly-exploring random tree(RRT)algorithm was proposed. Taking FANUC M-20iA industrial robot as the research object, the D-H parameters of each link were selected and a coordinate system was created to analyze its forward kinematics.The collision problem was transformed into the problem of the shortest distance between the center of the sphere and the axis of the cylinder. The potential function of the potential field method was improved,and RRT algorithm was used to make the manipulator jump out of the local minimum point when the manipulator entered the local minimum point, then the potential field method was used to plan the path to reach the target point. Finally, the improved algorithm was simulated in MATLAB. The simulation results show that using the algorithm, obstacles can be successfully avoided and the manipulator can run to the targets moothly.