| In the research and design process of industrial robots, the key technologies of the kinematic system has been in discussions at home and abroad, such as the Positive Solutions of kinematics equations, the kinematics equation of anti-solution trajectory planning algorithm. In this paper, the optimal time of the robot trajectories is studied deeply. The B-spine curve of the robot trajectory are designed in this paper, and a whole control system based on M0T0MAN-HP3 experimental platform is designed, the system contains a set of communication, arithmetic of kinematics, the trajectory planning and three-dimensional dynamic simulation of the robot.Firstly, the structure of the M0T0MAN-HP3 robot system is introduced. On the basis of the robot structural analysis and parametric analysis, by using the D-H method, kinematics model is established, according to this transformation equation, the HP3 robot kinematics equations is derived, and the inverse solution algorithm of one-time inverse matrix is derived accordingly.Secondly, the general robot path planning problem is analyzed in detail. And hence a time optimal trajectory for robot optimization objectives is proposed. The robot trajectory is constructed by using B-spine curve, and also its optimization model is established. The Robot simulation and trajectory planning simulation are made by using MATLAB. The simulation results of three-dimensional map can be shown on the screen visually, and it can be quickly and accurately used to analyze the movement of the robot, and simulate as a curve for the robot joints, the end of the actuator displacement, angular velocity and angular acceleration.Thirdly, VC ++ is used to build a robot control system based on MOTOMAN control platform. Ethernet established the communication between the NX100 robot control cabinet and the computers. All these are used to realize three-dimensional dynamic simulation of the robot inverse kinematics, trajectory planning and simulation module called ROSTY Simulation of actual working robot.Finally, the experiment of the robot handling tasks and to write letters "MOT" verified the solution. The three-dimensional graphics are designed to simulate the entire operation; the graphic displays the track of movement, to check the possibility of collision and the robot trajectory is reasonable or not. In the actual operation, if errors were found at any time, it will be adjusted and improved by this system. It verified that this robot control system can calculate the optimal trajectory of the robot and also the real-time control of the robot.Besides, the robot to write procedures for the Beijing Olympic Games emblem and write Chinese couplets procedures Fragrance fonts are developed in this paper. |
PDF Full Text Request