摘要
为了提高机器人工作效率,保证苹果的及时采摘,机器人需要具备极高的路径规划速度和采摘效率。针对六轴机械臂的特点,提出了一种基于改进RRT^(*)算法的六轴机器人苹果采摘路径规划算法。本算法可以实时规划路径,减少六轴机器人在采摘果蔬过程中的路径规划时间,提高采摘效率;通过优化采摘路径降低六轴机器人的碰撞危险度;通过平滑路径规划算法,避免六轴机器人在运动到折线的拐点处出现抖动现象,提高实时操作性;通过优化六轴机器人采摘角度,避免在奇异点和自碰撞点抖动和碰撞。试验结果证明改进后的路径规划可以提高机器人的工作效率,降低碰撞危险度。
In order to improve robot efficiency and ensure timely apple picking,the robot needs to have extremely high path planning speed and picking efficiency.For the characteristics of the six-axis robot arm,this paper proposes a six-axis robot apple picking path planning algorithm based on an improved RRT algorithm.This algorithm can plan the path in real time,reduce the path planning time of the six-axis robot in the process of picking fruits and vegetables,and improve the picking efficiency;reduce the collision hazard of the six-axis robot by optimizing the picking path;avoid the jittering phenomenon of the six-axis robot at the inflection point of the motion to the fold line by smoothing the path planning algorithm,and improve the real-time operability;avoid the jittering phenomenon at the singular point and self-collision by optimizing the picking angle of the six-axis robot point jitter and collision.The experimental results prove that the improved path planning can improve the efficiency of the robot and reduce the collision hazard.
作者
董君
尹本强
李莹莹
DONG Jun;YIN Ben-qiang;LI Ying-ying(College of Humanities and Urban-Rural Development,Beijing 102206;Northwest A&F University,Xianyang Shanxi 712199,China;Guizhou Wuniu Intelligent Technology Co.,Ltd,Qingdao Shandong 266000,China)
出处
《林业机械与木工设备》
2023年第1期31-34,共4页
Forestry Machinery & Woodworking Equipment
