Research of Path Planning of Six Degree of Freedom Industrial Robots Based on Collision Detection
Industrial robots play an important role in automated production,but they are prone to collisions during operation,resulting in damage or safety hazards.To address these issues,a hybrid collision detection algorithm is de-signed by studying the fusion of axis aligned bounding boxes and directed bounding boxes.Based on this,the artifi-cial potential field algorithm is integrated into the Fast Random Tree-Join Algorithm to design a path planning op-timization algorithm.The results showed that in different scenarios,the average detection time of the designed algo-rithm in collision and non collision scenarios was 28.3 ms and 24.5 ms,respectively.This algorithm effectively short-ens the task completion time while reducing the energy consumption and operating costs of the robot.This techno-logical achievement has important value in improving the safety and efficiency of industrial automation,and helps to promote the process of industrial intelligence.
Collision detectionPath planningAxis aligned bounding boxDirected bounding boxArtificial potential field algorithmRapidly-exploring random tree-connect
万方数据
维普
