Motion Planning of 7-DOF Manipulator Based on Quintic B-Spline Curve

Abstract

In order to improve the working efficiency and stability of the robot, a motion planning strategy of multi joint serial manipulator is proposed in this paper. In face of different time demands, two alternative motion planning methods is offered for robot selection to plan according to the established requirements. In one case, when the robot can make timely response to the environment, an effective motion planning method can be selected. Firstly, the improved RRT algorithm is used to quickly plan the robot path, and then the quintic quasi uniform B-spline function is used to fit the trajectory. According to this, the robot can respond quickly and timely. On the other hand, when the robot has enough time for motion planning, we can consider how to improve the quality of robot motion planning. The robot can use another method for motion planning. At this time, we also need to plan the robot path first, then use the quintic non-uniform B-spline curve fitting, and finally use the improved particle swarm optimization algorithm to optimize the trajectory of the robot. The robot can have a stable and efficient trajectory in the working environment. By using the motion planning method proposed in this paper, the robot can adapt to most of the work requirements and objectives.