Research And Design On Upper Control System Of IR

With the improvement of science and technology, the industrial robot is also developedquickly, and control system as the robot’s brain has become a popular research direction inthe field of industrial robot. Therefore, this paper mainly focuses on the research oftrajectory planning in the control system by adopting fifth-order uniform B-splines tointerpolate a sequence of critical path points and using the hybrid genetic algorithm to dealwith the constraints of robot’s trajectory, and finally the quadratic trajectory planning whichachieves the time-optimal and the jerk-optimal is implemented.First of all, the research results of the trajectory planning at home and broad issummarized in this paper, and the advantages and disadvantages of three optimizationmethod of trajectory planning-the time-optimal trajectory planning, the energy-optimaltrajectory planning and the jerk-optimal trajectory planning are analyzed in detail. Thetime-optimal trajectory planning doesn’t take into account the effect of the jerk. In order todo further optimization of the jerk, a quadratic trajectory planning method is put forwardin this paper. That is to say, the trajectory with minimum execution time is obtained by usingtime-optimal trajectory planning, then an efficient and smooth trajectory is generated in thisminimum execution time by using jerk-optimal trajectory planning. Moreover, the strategyof planning offline and interpolation online is used in this paper.Then, the quadratic trajectory planning method is simulated offline by using MATLABand Robotics Toolbox. The velocity, acceleration and jerk of each joint trajectorysinterpolated by B-splines are continuous, and the continuous and smooth jerk can reducemechanical vibration and also extend the working life of the robot, so this paper choosesfifth-order uniform B-splines as the interpolation function. Genetic algorithm can effectivelydeal with inequality constraints, but it has bad effects on equality constraints. the penaltyfunction is a good algorithm to solve the problem of equality constraints. So a hybridgenetic algorithm is put forward in this paper by combining the advantages of the two kindsof optimization algorithms to resolve the kinematics and dynamics constraints of trajectoryplanning. The method is applied to PUMA560, the result of simulation and experimentshows that the method can provide ideal trajectory and the hybrid genetic algorithm is moreefficient and stable.Finally, the interpolation algorithm is running on the TI OMAP3530platform. The software of OMAP3530is researched in depth in this paper. The entire process of callinginterpolation algorithm from the ARM to the DSP is well knew. Codec Engine is used to callalgorithm from the ARM to the DSP. DSPLink is responsible for data exchange in theShared buffer distributed by CMEM, and the whole process also need LPM to managepower supply of the DSP.