The Research Of The Kinematics Optimization And Trajectory Planning Of A Six DOF Robot

As a kind of advanced manufacture tool, robots have been applied in many fields and play a more and more important role in modem industry. As an important branch in the robot family, industrial robot is an important research and development orientation. Adopting industrial robot is a kind of effective method of improving quality of products, raising labor productivity, realizing automatization of production process, improving working conditions and lightening labor intensity. The trajectory planning and its control have been paid enough attention by researchers in the world.This thesis is concern about research on kinematics solution and trajectory planning of six DOF robots. In this paper we refer to traditional solutions of the inverse kinematics of a serial mechanisms, double quatemions is introduced firstly to inverse kinematics analysis of six DOF serial manipulator and get the solution algorithm of a general 6R serial manipulators which has universal usage. A profound research about trajectory planning is carried out in this paper. Practical property of the forward and inverse solution is verified by software program.Firstly, Firstly, coordinate systems of links and linkage parameters list are set up, and inverse kinematics is derived. It mainly develops the matrix of the robot's position and attitude using the method of D-H and achieves the forward kinematical equation of robot manipulator. For the reverse question of kinematics, two solutions were given: equation method and double quaternions method. It mainly deduced the rotation and translation of coordinate systems in double quatemions. The kinematics equations of serial robot are constructed in terms of double quaternionsSecondly, by analyzing the trajectory planning algorithms of the robot, the path planning algorithm in the joint space and a linear interpolation algorithm in the Cartesian space is introduced. Two methods of trajectory planning based on joint space were analyzed as well as linear and circular interpolation algorithm. In joint space, cubic interpolation and linear interpolation which vices joined by the parabola were detailed accounted separately at different situations. In Cartesian space linear interpolation and arc interpolation are discussed deeplyFinally, a six DOF robot has been created by the Robotics Toolbox of the Matlab software, and the strategy for software to realize kinematics solution and the trajectory planning algorithm is determined. The effectiveness and validity of this approach are proved by theoretical analysis and simulation results. The outcome of this thesis has significance application and referring value to the research of industry robot and to the development and use of the robot.