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Obstacle avoidance trajectory planning of redundant robots based on improved Bi-RRT

Author

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  • Huixing Xi

    (Anshan Normal University Liaoning China)

Abstract

In order to improve the effectiveness of the avoidance trajectory planning method of redundant robot, based on the simplification of the redundant seven-degree-of-freedom structure, this paper conducts kinematics and dynamics modeling of the manipulator, and analyzes the inverse kinematics of the seven-degree-of-freedom manipulator. Moreover, this paper studies the path planning algorithm based on RRT, and applies the Bi-RRT algorithm to perform path planning. In addition, this paper combines the obstacle avoidance requirements and path planning requirements of redundant robots to construct an intelligent model to realize automatic obstacle avoidance trajectory planning. Finally, this paper verifies the effect through simulation experiments. The experimental research results show that the obstacle avoidance trajectory planning method of redundant robots based on improved Bi-RRT proposed in this paper has good results and can effectively improve the efficiency of redundant robot trajectory planning.

Suggested Citation

  • Huixing Xi, 2023. "Obstacle avoidance trajectory planning of redundant robots based on improved Bi-RRT," International Journal of System Assurance Engineering and Management, Springer;The Society for Reliability, Engineering Quality and Operations Management (SREQOM),India, and Division of Operation and Maintenance, Lulea University of Technology, Sweden, vol. 14(2), pages 548-557, April.
    • Handle: RePEc:spr:ijsaem:v:14:y:2023:i:2:d:10.1007_s13198-021-01255-z
    DOI: 10.1007/s13198-021-01255-z
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