Research on Obstacle Avoidance Path Planning Algorithm for Six-axis Robot

Abstract

For the problem that the six-axis robot may collide with an obstacle in the working space during operation, the artifical potential field method is used to the obstacle avoidance path planing. Firstly, the robot is modeled by D-H parameter method, then the kinematics equation of the robot is established, and kinematic analysis is performed. Secondly, a simplified model of the manipulator and obstacle is established, and a collision-free path is planned for the manipulator according to the collision detection algorithm. Finally, the algorithm is verified by MFC programming combined with OpenGL development of six-axis manipulator simulation system. The system realizes three-dimensional graphic visualization of robot operation and simulation, which is of great significance to understand three-dimensional space, establish robot modeling, calculate direct and inverse solutions of kinematics and plan obstacle avoidance path.