An Intelligent Obstacle Avoidance Method for Six Degree of Freedom Robotic Arm Based on Assembly Sequence Planning

Abstract

Autonomous operation planning of robotic arms under complex task constraints is still a difficult problem in the current research in this direction, and the existing operation planning methods are facing challenges and urgently need to break through the technical bottleneck. This paper proposes an improved RRT algorithm for six-degree-of-freedom robotic arms, which can be used for obstacle avoidance path planning. Based on the assembly sequence planning method, combining the advantages of RRT and RRT-connect algorithm, applying the idea of target sampling to strengthen the convergence of the algorithm to the target point search, introducing the greedy algorithm to improve the efficiency of the algorithm, combining with the five times of the B-spline interpolation on the path of the smoothing optimization, to shorten the planning path time and length. The Robotics Toolbox toolkit in MATLAB is used to count the time, number of samples, and path length required for the planning of RRT and the improved RRT algorithm, and the dynamic planning library is used to configure the algorithm and verify the path planning effect of the improved algorithm. Compared with the traditional RRT algorithm, using the proposed SDPS-RRT Connect algorithm for six-degree-of-freedom robotic arm path planning, the minimum distance of the connecting rod from the obstacle is 51.4948cm, which is greater than the standard safety distance of 45cm, which verifies the feasibility of the algorithm in practical applications.

Keywords

• six degrees of freedom
• robotic arm
• sequence planning
• improved rrt algorithm
• smoothing optimization
• greedy algorithm
• 00a69