Application of Decision Tree Algorithm in Collision Avoidance Method of Manipulator
Aiming at the problem that the robot arm frequently collides due to the poor collision detection effect and obstacle avoid-ance effect of the collision avoidance method when the manipulator operates in a complex environment,a collision avoidance method of the manipulator using the decision tree algorithm is proposed.The kinematics equation of the manipulator was ob-tained by analyzing the kinematics structure of the manipulator.The collision process of the manipulator was simplified into the judgment process of the intersection of the bounding box in the three-dimensional perspective combined with the quadratic projec-tion method,the collision of the manipulator was detected,the predicted displacement information of the bounding box in the three-dimensional space was collected through the concentration function,and the decision tree model based on the predicted dis-placement information was established to obtain the optimal decision information of collision avoidance behavior of manipulator,the isolation between the manipulator and obstacles was realized.The optimal decision information of manipulator collision avoid-ance behavior was obtained to realize manipulator collision avoidance.The experimental results show that the robotic arm colli-sion avoidance method using decision tree algorithm only needs 0.29s to effectively detect collisions.In complex environments,there is no collision between the robotic arm and the obstacle in the planned collision avoidance route.Therefore,this method can effectively improve the effect of the robotic arm collision avoidance.
Robotic ArmDecision TreeQuadratic Projection MethodBounding BoxKinematic StructureConcentration Function
NETL
NSTL
万方数据
维普
