六轴工业机器人先验引导RRT*避障轨迹算法研究
2023,31(4):239-245
摘要：针对六轴工业机器人装配避障路径运动问题，研究了机器人整体避障运动路径规划方法，提出一种RRT*改进算法；算法以RRT*算法为基础，在障碍物建模中引入包围盒算法，加入对机器人各轴与障碍物的碰撞检测；在路径规划中加入对随机点生成方向与树枝生长方向的先验引导机制，优化了算法路径长度与路径搜寻效率；通过Matlab进行了试验验证，结果表明与标准RRT*算法相比，先验引导RRT*算法缩短路径长度14%左右，且满足机器人末端路径与手臂各轴的避障需求。
关键词：6R机器人；避障路径规划；RRT*；包围盒；先验引导
A priori information guided RRT* obstacle avoidance trajectory algorithm for six axis industrial robot
Abstract：Aiming at the obstacle avoidance path motion problem of 6R industrial robot assembly, the path planning method of robot's full body obstacle avoidance was studied, and an improved RRT* algorithm was proposed. Based on RRT* algorithm, the algorithm introduced bounding box algorithm into obstacle modeling, added collision detection between each axis of the robot and obstacles, and a priori information guidance mechanism for random point generation direction and tree growth direction is added to the path planning, which optimized the path length and path search efficiency of the algorithm. The experimental verification was carried out by Matlab, and the results shown that compared with the standard RRT* algorithm, the priori guided RRT* algorithm can shorten the path length by about 14%, and meet the obstacle avoidance requirements of the robot end path and arms.
Key words：6R robot; Obstacle avoidance path planning; RRT*; Bounding box; Prior information guidance
收稿日期：2022-12-29
基金项目：
