Research on Motion Path Planning Method of Live Working Robot Manipulator Based on Reverse Splitting Calculation

摘要

Abstract 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.