6-DOF Industrial Manipulator Motion Planning Based on RRT-Connect Algorithm

The motion planning and obstacle avoidance of industrial manipulator are researched in the V-REP platform. Virtual motion control and motion simulation of PUMA-560 manipulator are realized in the simulation environment. The manipulator STL file drawn by Solidworks is imported into the V-REP platform. The embedded thread script of the LUA language uses OMPL as a plug-in to provide motion planning functions, enabling more flexible implementation of robot motion planning. The RRT-Connect algorithm called by the motion planning library in the embedded script form API is implemented in the simulation environment. The algorithm gets fast convergence in motion planning and maintains good accuracy and rapid response. But the simulation trajectory is random and blind. For the defects of simulation, this paper gives the direction of future work to realize trajectory optimization.