Research And Simulate On Trajectory Planning Of A Industrial Robot With Six Degrees Of Freedom

Industrial robots have been widely used in industrial production, aviation, machinery manufacturing, etc. This topic conducts a synchronous study on an industrial robot of a company, which has six degrees of freedom and can bear 3kg weight. Through the detailed analysis of kinematics, Dynamics analysis, trajectory planning of the Industrial robot, a 3D simulation system of the robot has been developed and applied.This paper introduces a 3D modeling method for the robot, establishes a Descartes coordinate system, solves the robot kinematics equations, and conducts a trajectory planning. This paper also discusses a development process of the developing simulation system software based on VC++ and OpenGL. The overall software design is illustrated. This paper also introduces the specific operation method of three-dimensional display on application software by OpenGL. Real-time interactivity of OpenGL has been fully used to simulate the teaching/emersion process of the industrial robot. This simulation system of the industrial robot with six degrees of freedom can edit the controlling program, simulate trajectory dynamically, and observe the process and result of motion which can be used to inspect the correction of the controlling programming. If the controlling programming is applied directly to the robot without simulation test, it maybe cause some harm to the surrounding environment. This simulation system can void this kind of circumstanceFinally, this paper gives the key algorithms' specific realization process of kinematics calculation system, trajectory planning system and dynamic display modules in the simulation software. It realizes the control action's edition and trajectory tracking, and part of the robot's action process simulation The design method's study on the 3D simulation system of the robot with six degrees of freedom has certain practical value in robotics and control theory.