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Dynamic obstacle avoidance and trajectory planning of five-axis redundant industrial manipulator

JOURNAL OF VIBROENGINEERING 2023年第4期25卷 778-791页

作者： Ma, Jian Changzhou Vocat Inst Mechatron Technol Sch Elect Engn Changzhou 213164 Peoples R China

Aiming at the problem that five axis redundant industrial manipulator dynamic obstacle avoidance and trajectory planning algorithm does not consider the minimum difference of each joint of the manipulator, which leads to low success rate of obstacle avoidance planning, slow convergence speed of path cost and long time of obstacle avoidance planning, a simulation study on dynamic obstacle avoidance trajectory planning of five axis redundant industrial manipulator is proposed. According to the D-H rule, the coordinate system of each link joint of the five axis redundant industrial manipulator is established, and the forward and inverse kinematics of the five axis redundant industrial manipulator is analyzed. AABB's hierarchical bounding box tree algorithm is used to detect the collision of five axis redundant industrial manipulator. This paper uses harmony search algorithm to plan the obstacle avoidance path of five axis redundant industrial manipulator, determines the objective function and constraints of the optimization problem, sets algorithm parameters, initializes harmony memory, creates new harmony, updates harmony memory, checks and searches the target state, achieves the maximum number of iterations, and realizes the dynamic obstacle avoidance and trajectory planning of five axis redundant industrial manipulator. The experimental results show that the path cost of the proposed algorithm converges faster, and can effectively improve the success rate of obstacle avoidance planning and shorten the time of obstacle avoidance planning.

关键词： five axis redundant industrial manipulator dynamic obstacle avoidance trajectory planning hierarchical bounding box tree algorithm harmony search algorithm

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