国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

Aiming at the obstacle avoidance path motion problem of 6R industrial robot assembly, the path planning method of robot's full body obstacle avoidance was studied, and an improved RRT* algorithm was proposed. Based on RRT* algorithm, the algorithm introduced bounding box algorithm into obstacle modeling, added collision detection between each axis of the robot and obstacles, and a priori information guidance mechanism for random point generation direction and tree growth direction is added to the path planning, which optimized the path length and path search efficiency of the algorithm. The experimental verification was carried out by Matlab, and the results shown that compared with the standard RRT* algorithm, the priori guided RRT* algorithm can shorten the path length by about 14%, and meet the obstacle avoidance requirements of the robot end path and arms.