Research on Dynamic Trajectory Planning of Collaborative Robots Base on RRT-RV Algorithm
Guodong Liu, Yong Jiang · 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference (ITOEC) · 2018
A novel aooroach of dynamic trajectory planning of collaborative robots is proposed. Firstly, the distances of human-robot are obtained through a new simple method by RGBD camera kinect. Then, the trajectory is generated by the proposed approach(RRT-RV), which improved the traditional RRT method by adding constraint factor as well as merging RV method. This method does not only consider static obstacles, but also takes dynamic obstacles into account. Moreover, simulation experiment is utilized to execute the new method and optimize parameters. Besides, further physical experiment is conducted by RGBD camera Kinect and UR5 robot to verify the feasibility and effectivity of the designed real-time collision avoidance algorithm.