Motion Planning Algorithms for 10-DOF Mobile Robot Manipulation System

Abstract

In this thesis, a motion planning algorithm for 10-DOF Manipulators including 3-DOF Omni-directional Mobile Robot, 1-DOF Prismatic Joint,and 6-DOF UR5E are proposed. The 3-DOF Omni-directional Mobile Robot and the 7-DOF Robot Arm (Prismatic Joint and Ur5e) are solved for kinematics,respectively, and the Jacobian matrix are fused. The purpose is to enable the various parts to simultaneous motion and be more flexible.Finally, the feasibility of the algorithm is verified by simulation. In the 10-DOF manipulator, redundancy is added to enable a wider variety of motion trajectories and working postures. The 4th order Runge-Kutta method is used in this algorithm to reduce the error with the expected trajectory. Weighted Pseudo-Inverse Jacobian and Joint Limit Algorithm are used at the same time. The purpose is to optimize the path and complete the task through better joint motion trajectory. Through simulation and comparison of results, the advantages of the two optimization algorithms are illustrated. Finally, the actual 10-DOF operator is communicated through TCP/IP protocol, and the real-time joint velocity of each joint is sent to each part of the 10-DOF manipulator, and the final experiment is completed.