6-DOF Industrial Manipulator Motion Planning Based on RRT-Connect Algorithm

摘要：

　　The motion planning and obstacle avoidance of industrial manipulator are researched in the V-REP platform.Virtual motion control and motion simulation of PUMA-560 manipulator are realized in the simulation environment.The manipulator STL file drawn by Solidworks is imported into the VREP platform.The embedded thread script of the LUA language uses OMPL as a plug-in to provide motion planning functions,enabling more flexible implementation of robot motion planning.The RRT-Connect algorithm called by the motion planning library in the embedded script form API is implemented in the simulation environment.The algorithm gets fast convergence in motion planning and maintains good accuracy and rapid response.But the simulation trajectory is random and blind.For the defects of simulation,this paper gives the direction of future work to realize trajectory optimization.

关键词： Industrial manipulators RRT-Connect algorithm Fast convergence Motion planning

作者: Chengren Yuan Guifeng Liu Wenqun Zhang

作者单位: Power Engineering Department,Naval University of Engineering,Wuhan 430033,China Office of Educational Administration,Naval University of Engineering,Wuhan 430033,China

会议类型: 国际会议

会议名称: 2019机械设计国际会议暨第20届机械设计学术年会

会议地点: 浙江湖州

会议语种:英文

页码: 93-101

在线出版日期: 2019-08-12（万方平台首次上网日期，不代表论文的发表时间）