Research on Obstacle Avoidance Motion Planning Technology of 6-DOF Manipulator

Abstract

As we know, the robot is a mechanical device that integrates mechanical engineering, electronic technology, automatic control, and computer science. With the wide application of robot technology, obstacle avoidance motion planning of manipulator has become one of the hot issues in the field of robot research. This paper presents the research on the obstacle avoidance motion planning of a 6-DOF serial manipulator in a static space environment. This Obstacle avoidance motion planning is carried out by using the method of configuration space motion planning. Firstly, the obstacle avoidance problem is described mathematically, and a new collision detection method based on a capsule model envelope is proposed. Then RRT algorithm is improved from sampling space and sampling strategy to generate a collision-free motion path from the initial position to target position. The simulation experiment of the multi-obstacle working environment in MATLAB® verifies the feasibility of the improved algorithm. This study shows that the motion planning method of the improved RRT algorithm is not only feasible in theory, but also can meet the needs of practical application and ensure that there is no collision between the manipulator and the obstacles.