Collision avoidance path planning for the 6-DOF robotic manipulator

摘要

This paper proposes a solution of collision avoidance path planning for the 6-degree of freedom (6-DOF) robotic manipulator based on the virtualized platform. It can effectively avoid danger by consider the planned path whether collide with other modules through the digital simulation. This technology includes: (1) collision detection, (2) avoidance path planning. The models of existing obstacles and 6-DOF robotic manipulator in the work-space are firstly created. The collision detection is further realized through the created models. Then, an optimal avoidance path is obtained by the rapidly-exploring random tree (RRT) algorithm, but it involves many redundant vertexes. This paper proposes the Reduce Vertex RRT algorithm (RVRRT) to decrease the redundant vertex. Therefore, the collision avoidance path can increase the productivity when the 6-DOF robotic manipulator is applied in the production line.