Research on Target Grasping Path Selection of Multi-axis Robot Arm Based on Laser Ranging
In the current multi-axis robotic arm target grasping path calculation,only collision constraints are considered,while distance constraints are lost,resulting in the selection of the objective function solution easily falling into local optima,decreased path selection and grasping effectiveness and increased grasping time.A multi-axis robotic arm target grasping path selection method is proposed based on laser ranging.A laser scanner is used to scan environmental data,the Euclidean distance between the position point of the multi-axis robotic arm and the target point is calculated,and the position information of the multi-axis robotic arm and its grasping target is obtained.Using the obtained position information,the dynamic equation of the multi-axis robotic arm is established,path selection constraint parameters are set through the dynamic equation,and a path selection objective function is built.Using the multi-swarm particle swarm multi-elite population(PSOEL)algorithm to solve the objective function,the optimal path is obtained and path selection for multi-axis robotic arm target grasping is achieved.The experimental results show that under the selection method considering distance constraints,the multi-axis robotic arm has good performance in selecting grasping paths and grasping the targets.
laser rangingmulti axis robotic arm target graspingpath selectionPSOEL algorithm
NETL
NSTL
万方数据
