Algorithm Research & Explore
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App. Res. of Comp. Printed Article
Vol. 41, 2024 No. 2
459-465

Redundant manipulator end-effector path planning based on improved bidirectional RRT* algorithm

Wu Jianxionga,b
Bi Zhuorana,b
Li Zongdaoa,b
Li Qingdua
a. Institute of Machine Intelligence, b. School of Medical Instrument & Food Engineering, University of Shanghai for Science & Technology, Shanghai 200093, China
DOI: 10.19734/j.issn.1001-3695.2023.06.0275

Abstract

Aiming at the redundancy characteristics of the redundant manipulator and the relevant RRT* algorithm had issues with low search efficiency, unstable convergence and not fully considering the influence of the geometric configuration and self-motion characteristics of the redundant manipulator's end effector on path planning in applications for planning the end-effector path, this paper proposed an improved strategy. Firstly, this paper introduced a sampling point selection method based on the angle between the root and end node connection, along with the establishment of a target proximity region. This method dynamically switched between improved sampling methods and random sampling methods based on the number of successful continuous samples. Subsequently, this paper combined the bidirectional tree expansion strategy with the aforementioned method. Finally, it reconnected the initial feasible path twice to obtain the optimized path. Through verification, it improved that the bidirectional tree RRT* method could effectively enhance search efficiency, convergence, and path optimality. The introduction of virtual collision bodies and capsule collision bodies could also effectively respond to the impact of the structure and motion characteristics of the end effector of the redundant manipulator. This paper used the Mujoco physics simulation engine to validate the movement of the redundant manipulator. This paper demonstrates that this strategy can plan a more optimal feasible end-effector path for the redundant manipulator.

Foundation Support

国家自然科学基金资助项目(92048205)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.06.0275
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 2
Section: Algorithm Research & Explore
Pages: 459-465
Serial Number: 1001-3695(2024)02-021-0459-07

Publish History

[2023-11-14] Accepted Paper
[2024-02-05] Printed Article

Cite This Article

吴剑雄, 毕卓然, 李宗道, 等. 基于改进双树RRT*算法的冗余机械臂末端路径规划 [J]. 计算机应用研究, 2024, 41 (2): 459-465. (Wu Jianxiong, Bi Zhuoran, Li Zongdao, et al. Redundant manipulator end-effector path planning based on improved bidirectional RRT* algorithm [J]. Application Research of Computers, 2024, 41 (2): 459-465. )

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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