Research on Obstacle Avoidance Strategy and Method of UR Manipulator

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.