At present, Epson SCARA robots are widely used in electronics, automobiles, plastics, food and other industrial fields, and their main function is to complete transfer and assembly operations. With the increasing complexity and professionalism of the process, SCARA robots often need to work in collaboration with other industrial equipment on the assembly line, and it is inevitable that they will collide with obstacles. Therefore, it is particularly important to plan the motion trajectory of the SCARA robot with obstacles in the operating range.
Path planning refers to the obstacle conditions of a given environment, as well as the orientation of the starting point and the target point, which requires the selection of a path from the starting point to the target point, so that the SCARA robot can safely and without bumps through all obstacles. This autonomous evasion of obstacles and the completion of the mission is an important part of the SCARA robotics workshop.
The essence of orbit planning is to pre-give a sequence of joint coordinate values on the SCARA robot's operation path, so that it moves along the predetermined pathway.
As far as the four-axis robot is concerned, the longitudinal movement of the joint 3 and the movement with clamp of the joint 4 have strong flexibility, and can be controlled in real time with a simple motion command to escape the obstacle according to the actual situation; The associated motion of joint 1 and joint 2 in the horizontal plane determines the main posture of the SCARA robot to a large extent, which is the dominant element of obstacle collision avoidance. Therefore, the reasonable planning of the joint coordinate value sequence of joint 1 and joint 2 in the horizontal plane is the condition and key to complete obstacle avoidance. In this paper, an intelligent control algorithm is proposed based on the theory of geometry and artificial intelligence to solve the problem of two-dimensional obstacle avoidance of SCARA robots and verified by simulation.
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