Open AccessResearch on Motion Path Planning Method of Live Working Robot Manipulator Based on Reverse Splitting Calculation
Author(s) -
Zhe Liu,
Aiqiang Pan,
Anfeng Jiang,
Wenhe Li,
Jiawei Zhang,
Chengchao Bai
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2213/1/012031
Subject(s) - motion planning , smoothness , path (computing) , robot , computer science , overhead (engineering) , matlab , control theory (sociology) , simulation , artificial intelligence , mathematics , control (management) , mathematical analysis , programming language , operating system
In the dual manipulator motion planning of live working robot, the traditional motion planning algorithm has the problems of too many turning points and non-smoothness. Therefore, this paper proposes a method of reverse splitting and local interpolation to remove redundant path nodes and optimize the motion trajectory. The working scene of overhead distribution line live working robot is simulated in MATLAB robot toolbox. The model includes manipulator R, manipulator L and overhead conductor to verify the effect of the method proposed in this paper. The results show that, the proposed method ensures that the redundant path nodes are removed on the premise of no collision between the two manipulators, which significantly improves the quality of the path.