Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm
This paper focuses on the path planning of free-floating space redundant manipulator in an environment with obstacles. Firstly, based on the idea of spherical bounding volume and spatial superposition, the spatial occupying relationship between obstacles and manipulators is described in a simpler wa...
| Format: | Article |
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| Language: | zho |
| Published: |
EDP Sciences
2020-02-01
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| Series: | Xibei Gongye Daxue Xuebao |
| Subjects: | |
| Online Access: | https://www.jnwpu.org/articles/jnwpu/full_html/2020/01/jnwpu2020381p183/jnwpu2020381p183.html |
| _version_ | 1797668362965221376 |
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| collection | DOAJ |
| description | This paper focuses on the path planning of free-floating space redundant manipulator in an environment with obstacles. Firstly, based on the idea of spherical bounding volume and spatial superposition, the spatial occupying relationship between obstacles and manipulators is described in a simpler way. Then the relative position relationship between straight line segment and sphere is used to judge whether a collision between the manipulator and the obstacle. With the principle of forward kinematics, we use the joint parameterization method to transform the path planning problem into a parameter optimization problem with constraints. In this optimization problem, the objective function is a weighted optimization objective function, which includes two terms, the first term describes the base attitude disturbance and the second one is established according to the requirement of avoidance collision. The motion trajectories of the manipulator joints can be obtained by solving the optimization problem using the particle swarm optimization algorithm. We choose a 7-DOF space redundant manipulator for simulation study, and simulation results show the effectiveness of the proposed method, there is no collision between the manipulator and obstacles, and there is no disturbance on the base attitude. What's more, the trajectory of the joint is smooth, which can make the end-effector reach the desired pose with a high accuracy. |
| first_indexed | 2024-03-11T20:28:05Z |
| format | Article |
| id | doaj.art-3d33c833633c464a8e0e0759df0102b4 |
| institution | Directory Open Access Journal |
| issn | 1000-2758 2609-7125 |
| language | zho |
| last_indexed | 2024-03-11T20:28:05Z |
| publishDate | 2020-02-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | Xibei Gongye Daxue Xuebao |
| spelling | doaj.art-3d33c833633c464a8e0e0759df0102b42023-10-02T10:53:08ZzhoEDP SciencesXibei Gongye Daxue Xuebao1000-27582609-71252020-02-0138118319010.1051/jnwpu/20203810183jnwpu2020381p183Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection AlgorithmThis paper focuses on the path planning of free-floating space redundant manipulator in an environment with obstacles. Firstly, based on the idea of spherical bounding volume and spatial superposition, the spatial occupying relationship between obstacles and manipulators is described in a simpler way. Then the relative position relationship between straight line segment and sphere is used to judge whether a collision between the manipulator and the obstacle. With the principle of forward kinematics, we use the joint parameterization method to transform the path planning problem into a parameter optimization problem with constraints. In this optimization problem, the objective function is a weighted optimization objective function, which includes two terms, the first term describes the base attitude disturbance and the second one is established according to the requirement of avoidance collision. The motion trajectories of the manipulator joints can be obtained by solving the optimization problem using the particle swarm optimization algorithm. We choose a 7-DOF space redundant manipulator for simulation study, and simulation results show the effectiveness of the proposed method, there is no collision between the manipulator and obstacles, and there is no disturbance on the base attitude. What's more, the trajectory of the joint is smooth, which can make the end-effector reach the desired pose with a high accuracy.https://www.jnwpu.org/articles/jnwpu/full_html/2020/01/jnwpu2020381p183/jnwpu2020381p183.htmlspace redundant manipulatorcollision detection algorithmobstacle avoidance path planningparticle swarm optimizationspherical bounding volumespatial superpositionsimulationmotion trajectory |
| spellingShingle | Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm Xibei Gongye Daxue Xuebao space redundant manipulator collision detection algorithm obstacle avoidance path planning particle swarm optimization spherical bounding volume spatial superposition simulation motion trajectory |
| title | Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm |
| title_full | Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm |
| title_fullStr | Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm |
| title_full_unstemmed | Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm |
| title_short | Obstacle Avoidance Path Planning of Space Redundant Manipulator Based on a Collision Detection Algorithm |
| title_sort | obstacle avoidance path planning of space redundant manipulator based on a collision detection algorithm |
| topic | space redundant manipulator collision detection algorithm obstacle avoidance path planning particle swarm optimization spherical bounding volume spatial superposition simulation motion trajectory |
| url | https://www.jnwpu.org/articles/jnwpu/full_html/2020/01/jnwpu2020381p183/jnwpu2020381p183.html |