基于精准碰撞检测算法的机械臂避障轨迹规划

Research on Manipulator Trajectory Planning Based on Precise Collision Detection Algorithm

摘要: 为完成6自由度机械臂在多种障碍物环境下的关节轨迹规划，提出一种精确的碰撞检测算法，结合6次多项式关节空间轨迹规划算法完成机械臂的轨迹规划避障算法。通过对障碍物与机械臂进行几何模型简化将6自由度机械臂的碰撞检测问题转化为模型之间最小距离计算问题；结合机械臂正逆运动学与碰撞检测结果，创建遗传优化算法的适应度函数，使机械臂在完成避障的同时优化各关节轨迹长度和转动角度，将机械臂避障轨迹规划问题转化为约束条件下的多目标优化问题。最后通过MATLAB对算法进行仿真实验，结果表明，该算法在多种障碍物的环境下能够规划出满足要求的运动轨迹。

Abstract: In order to complete joint trajectory planning of a 6-DOF free manipulator under multiple obstacles, an accurate collision detection algorithm was proposed, and the trajectory planning of the manipu-lator was completed by combining the trajectory planning algorithm of 6-degree polynomial joint space. By simplifying the geometric model of obstacles and the manipulator, the collision detection problem of the 6-DOF manipulator was transformed into the calculation problem of the minimum distance between the models. Combined with the forward and inverse kinematics of the manipula-tor and the collision detection results, the fitness function of the genetic optimization algorithm was created to optimize the trajectory length and rotation Angle of each joint while avoiding the obsta-cle. The trajectory planning problem of the manipulator was transformed into a multi-objective op-timization problem under constraint conditions. Finally, the algorithm is simulated by MATLAB, and the results show that the algorithm can plan the motion trajectory that meets the requirements in the environment of multiple obstacles.