Motion Planning of 6R Manipulator with Improved RRT* Algorithm
In the motion planning of a 6R manipulator,there are some problems such as strong randomness of path search,low success rate and poorsmoothness of generated trajectory.In order to solve these problems in path planning,an improved asymptotic optimal fast random spanning tree(RRT*)algorithm and the non-uniform quintic B-spline function combined with genetic algorithm for trajectory planning are proposed.Firstly,the RRT*algorithm is modified with the adaptive target offset strategy,the local node rejection strategy and the sliding sampling pool strategy based on the Sobol sequence to improve the planning efficiency.Then,The non-uniform quintic B-spline function is used to smooth the motion path,and the genetic algorithm is combined to optimize the running time and reduce the impact,thus achieving the trajectory planningand ensuring the safe,smooth and fast operation of the 6R manipulator.The simulation results show that the 6R manipulator does not touch obstacle or reach the target pose and that the trajectory of each joint has a high-order continuity,significantly reducing the time of path planning and manipulator operation.The experimental results verify the effectiveness of the algorithm.
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