Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 9
2663-2668

Research on path planning of package yarn handling manipulator based on improved RRT

Li Wenjie1a,1b
Zhao Di1a,1b
Du Yuhong1a,1b
Bing Zhigang2
1. a. College of Mechanical Engineering, b. Tianjin Key Laboratory of Modern Electromechanical Equipment, Tianjin University of Technology, Tianjin 300387, China
2. School of Automation & Electrical Engineering, Tianjin Vocational & Technical Normal University, Tianjin 300350, China
DOI: 10.19734/j.issn.1001-3695.2023.02.0017

Abstract

This paper proposed an improved RRT algorithm to solve the problem that the traditional target offset RRT was easy to fall into local optimum in the environment where there were many obstacles such as yarn racks, placing platforms and other packages during the package handling process. It established the collision detection model by geometric envelope method, and added the distance coefficient g to keep a safe distance between the end of the manipulator and the obstacle. It proposed a random action selection strategy to select the expansion action before each expansion of the tree, and proposed a weakening target offset strategy to offset the extension direction according to the position of Xgoal relative to the Xnear and Xrand line. According to the vertical distance limit method and cubic spline interpolation, it optimized the initial path, and finally obtained a smooth path. Through simulation comparison with RRT algorithm, M-RRT algorithm, RRT algorithm with added gravity coefficient and improved RRT* algorithm, the maximum decrease in path length was 23.3%, the maximum decrease in time was 82.5%, and the distance from obstacles was always more than 50 mm. The results show that the algorithm improves the efficiency and safety of the manipulator handling.

Foundation Support

天津市科技计划资助项目(20YDTPJC00740)
江苏省重点实验室开放基金资助项目(HGAMTL-1811)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.02.0017
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 9
Section: Algorithm Research & Explore
Pages: 2663-2668
Serial Number: 1001-3695(2023)09-016-2663-06

Publish History

[2023-03-30] Accepted Paper
[2023-09-05] Printed Article

Cite This Article

李文杰, 赵地, 杜玉红, 等. 基于改进RRT的筒子纱搬运机械臂路径规划研究 [J]. 计算机应用研究, 2023, 40 (9): 2663-2668. (Li Wenjie, Zhao Di, Du Yuhong, et al. Research on path planning of package yarn handling manipulator based on improved RRT [J]. Application Research of Computers, 2023, 40 (9): 2663-2668. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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