A Collision-Free Trajectory Planning Method for Redundant Manipulator Spraying for Inner Surface of Pipe

Abstract:

Obstacle avoidance is an important content in the research of redundant manipulator. To automate spraying for inner surface in a complex curved pipe, its a challenge to plan collision-free trajectory for the manipulator. A hybrid planning algorithm based on genetic algorithm and pseudo-inverse method is presented in this paper. Firstly, the collision problem between the manipulator and curved pipe is simplified to collision detection problem between polyhedron. The manipulator joints are represented by bounding volumes, and the curved pipe is deemed to polyhedron. Secondly, in the hybrid genetic algorithm, the initial population is obtained by using the pseudo-inverse method, by establishing the distance relationship between the vertices of the bounding volume and its cross-sectional plane polygon. The fitness function is constructed to evaluate the collision situation between the manipulator and pipe. Via the continuous evolution of the population, the collision-free trajectory is obtained finally.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1656-1661
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1656
• Online since: May 2013
• Authors: Dong Jing Miao, Liao Wu, Ken Chen, Guo Lei Wang
• Keywords: Collision Detection, Hybrid Genetic Algorithm, Obstacle Avoidance

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