Research On Kinematics Algorithm Of 5-DOF Robot

Industrial robot is a high-tech mechantronic product, which has been used widely in industrial production in recent years, because of its advantages such as high efficient, safety and high precise. It is an effective method to increase productivity, improve labor environment and improve product quality. With the development of industry automation, the robot is required to have better operation performance. A deep and systematic study about robot kinematics system based on the DM-P500 robot, which was made by Open-tech Company, is made in this thesis. The contents are as follows:(1) The development,application and current situation of industrial robot are elabrated, and the system structure of DM-P500 robot is analysed.(2) The methods of establishment about robot kinematics general equation and the solution of forward and inverse kinematics problems are discussed. In this thesis, D-H method and the spinor method of exponential product formula is used respectively to build the kinematics equation. Through compared two methods and based on the features of experimental robot, spinor method of exponential product formula is chosed to solve the forward problem of robot kinematics. For the reverse problem of kinematics, due to the non-uniqueness of robot inverse kinematics, an appropriate solution method should be selected. In this thesis the sub-problems based on the spinor method is used to solve robot inverse kinematics.(3) Robot trajectory planning algorithm in joint space is studied.Because of the shortages of general interpolation algorithms, a combination algorithm of parabolic and trigonometric is applied to robot trajectory planning. At the same time, the shortest time is as the evaluation index of optimal performance.In order to achieve the time optimal trajectory planning, a improved genetic algorithm is used in the thesis. It uses the adaptive parameter adjusting to accelerate the convergence speed and overcome the phenomenon of premature convergence. Finally, the simulation results show that the robot's motion time is reduced significantly, and the trajectory's curves of each joint are continuous and smooth, which verified the effectiveness of the algorithm.