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

Huixing Xi ()
Additional contact information
Huixing Xi: Anshan Normal University Liaoning China

International Journal of System Assurance Engineering and Management, 2023, vol. 14, issue 2, No 6, 548-557

Abstract: 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.

Keywords: Improved Bi-RRT; Redundant robot; Obstacle avoidance trajectory; Planning method (search for similar items in EconPapers)
Date: 2023
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://link.springer.com/10.1007/s13198-021-01255-z Abstract (text/html)
Access to the full text of the articles in this series is restricted.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:spr:ijsaem:v:14:y:2023:i:2:d:10.1007_s13198-021-01255-z

Ordering information: This journal article can be ordered from
http://www.springer.com/engineering/journal/13198

DOI: 10.1007/s13198-021-01255-z

Access Statistics for this article

International Journal of System Assurance Engineering and Management is currently edited by P.K. Kapur, A.K. Verma and U. Kumar

More articles in International Journal of System Assurance Engineering and Management from Springer, The Society for Reliability, Engineering Quality and Operations Management (SREQOM),India, and Division of Operation and Maintenance, Lulea University of Technology, Sweden
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().