文献类型：期刊文献

英文题名：Research on Obstacle Avoidance Strategy and Method of UR Manipulator

作者：Wang, Xiaofeng[1]; Wang, Jianwen[1]; Cao, Pengyong[1]; Yang, Yunmao[1]

机构：[1] School of Mechanical and Power Engineering, East China University of Science and Technology, Shang Hai, China

年份：2021

起止页码：204

外文期刊名：2021 IEEE 3rd International Conference on Communications, Information System and Computer Engineering, CISCE 2021

收录：EI(收录号：20213110705813)

语种：英文

外文关键词：Trees (mathematics) - Degrees of freedom (mechanics) - Robot programming - Simulation platform - Robotic arms - Manipulators - Robot Operating System - MATLAB

摘要：The obstacle avoidance problem of the robotic arm in a complex working environment is one of the reasons that affect the operating efficiency and capability of the robotic arm. It is of great significance to study the obstacle avoidance strategy and algorithm of manipulator. The six-degree-of-freedom UR robot was simulated through the ROS platform, and the path planning simulation of the robotic arm was performed using Rapidly-Exploring Random Tree (RRT) algorithm and the improved RRT algorithm (RRT-connect, RRT?). The simulation experiment of the algorithm was carried out on the Matlab platform. The results show that in different environments, the RRT algorithm search has a large randomness and is greatly affected by the environment. The RRT? algorithm has a longest search time but the optimal path, and the RRT-connect algorithm has the shortest search time but large path jitter. Mastering the different characteristics of these three algorithms will point out the direction for follow-up research. ? 2021 IEEE.