Path planning for 6-DOF manipulator

Tianao Zhang

doi:10.1117/12.2641463

10 November 2022 Path planning for 6-DOF manipulator

Tianao Zhang

Proceedings Volume 12348, 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022); 123482X (2022) https://doi.org/10.1117/12.2641463
Event: 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022), 2022, Zhuhai, China

Abstract

Manipulator plays an important role in industrial production and can complete a number of tasks, such as handling, picking, sorting. However, its working environment is not necessarily very spacious, there are other equipment or objects in the working environment, such as shelves, railings, or computers, and the manipulator will be blocked by them when moving. Therefore, it is necessary to use algorithms to ensure the ideal path and reduce the path deviation of motion and obstacle avoidance. Thus, this paper aims to prove that whether the manipulator can find a feasible motion path under many obstacles with RRT * algorithm. Meanwhile, the D-H method is used to establish the manipulator model, then the RRT* algorithm is studied for path planning, and finally verified by MATLAB simulation. The results show that the manipulator can quickly avoid obstacles and reach the target point under the control of path planning algorithm.

Citation Download Citation

Tianao Zhang "Path planning for 6-DOF manipulator", Proc. SPIE 12348, 2nd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2022), 123482X (10 November 2022); https://doi.org/10.1117/12.2641463

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