6R Serial Manipulator Space Path Planning Based on RRT
Chao Ma, Yong Zhang, Qinjun Zhao, KunFeng Bai · 2016
This paper proposes a 6R serial manipulator spatial path planning method based on RRT algorithm. RRT algorithm is different from other path planning method, during its planning process, it can take the manipulator's kinematics constrains and the position of the obstacles into consideration. Then combine with the collision detection method of AABB bounding box, and plan an effective and feasible path. This not only can improve the searching speed, but also can ensure the feasibility of the path it had planned. After these, to make the manipulator move smoothly, it uses the Hermite interpolation to smooth the path it had planned, and this can reduce the body trembling during the manipulator's movement. At last, it uses the C++ and OpenGL builds a simulating platform, and uses this platform to simulate the path planning method this paper had proposed.