Path Planning of 6-DOF Venipuncture Robot Arm Based on Improved A-star and Collision Detection Algorithms

In this paper, we use a compact 6 degree-of- freedom (DOF) robot arm as the actuator of the venipuncture system. Aiming at the robot arm's requirements for speed and smoothness and considering that the robot arm may collide with obstacles in the course of movement,we simplify the model of the r...

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Bibliographic Details
Published in2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 2971 - 2976
Main Authors Li, Fenglei, Huang, Zexin, Xu, Lin
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2019
Subjects
6-DOF
Blood
Collision avoidance
Collision detection algorithm
Geometry
Improved A-Star algorithm
Manipulators
Needles
Path planning
Planning
Robot arm
Three-dimensional displays
Venipuncture
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DOI10.1109/ROBIO49542.2019.8961668

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Summary:In this paper, we use a compact 6 degree-of- freedom (DOF) robot arm as the actuator of the venipuncture system. Aiming at the robot arm's requirements for speed and smoothness and considering that the robot arm may collide with obstacles in the course of movement,we simplify the model of the robot arm and obstacles according to the geometry of the robot arm and obstacles in the environment. Then we proposed an improved A-star algorithm and a three-dimensional (3D) collision detection algorithm, which can plan a collision-free optimal path for the blood taking needle fixed in the end of the robot arm, so that the blood taking needle can penetrate into the target point of the venous vessel continuously,smoothly and accurately driven by the robot arm. The simulation and actual path planning experiments indicate that the proposed path planning method is effective and feasible.
DOI:10.1109/ROBIO49542.2019.8961668