A Collision-free Trajectory Planning Algorithm for Manipulators in Unstructured Environment

Abstract

In this article, we propose a collision-free trajectory planning method for the manipulator that satisfies the robot’s operational requirements in unstructured environment. The algorithm considers the collision-free trajectory requirements of the end effector and the manipulator body. The reactive trajectory planning algorithm in the local environment is used to superimpose the control quantity on the velocity layer, which avoids the mechanical dynamics model in the calculation process, Parameter acquisition and computational complexity issues. The method is simulated by MATLAB and further implemented on the UR manipulator. The simulation and experimental results show the real-time and effectiveness of the algorithm.