| Robot is a complicated equipment of mechatronics integration which is widely used in the fields of industry, agriculture, service marketing, medical treatment, aerospace program and military. the most widely used in industry is the six degree of freedom robot so far, with the further reform of the robot technology,many fields have begun to use the robot technology in industry. Therefore, for the current project development, the most urgent task is to accelerate and improve the development of the robot and develop a better performance of industrial robots efficiently.The kinematic modeling and trajectory planning of industrial robots are very important in the design and development of the robot, It can shorten the development cycle and improve the efficiency of the robot by combining the kinematics algorithm with the trajectory planning simulation.Firstly,the basic knowledge of Mathematics for the industrial robot is elaborated, and details of the robot pose representation and background of homogeneous transformation matrix construction.In order to simplify the robot end effector pose, the Euler angle theory is introduced to describe the attitude.The rotation matrix transformation and the method of unit four elements are used to solve the singular point problem in the Euler angle system.And then around the PUMA560 manipulator D-H parameters and coordinate system are discussed, on this basis, the success of the forward kinematics and inverse kinematics model is deduced, and the correctness of the kinematics model is verified by simulation experiment.Secondly, it is very important for the research of robot kinematics algorithm in industrial robot technology, and it is also an indispensable need to call the algorithm in the robot trajectory planning.Based on the kinematics model of the robot, the trajectory planning of the robot is studied, and it has great significance both in theory and in practice.Due to the characteristics of industrial robot inverse kinematics equation are highly complex and nonlinear. Therefore, it is suggested that a kind of improved BP neural network method to solve the inverse kinematics problem, and to put forward a new method of using MATLAB software simulation, identified by improved BP neural network method to solve the robot inverse kinematics.Finally, the main research of the improved BP neural network method for solving the kinematics equations application in industrial robot trajectory planning, the relationship between kinematics and trajectory planning are analyzed, and several methods of trajectory planning are introduced.In order to adapt to the high performance requirements of modern industrial manufacturing process,NURBS interpolation method is superior to other conventional trajectory planning methods in industrial robot trajectory planning,So the use of NURBS interpolation algorithm combined with improved BP neural network for solving inverse kinematics equation is applied to the trajectory planning of PUMA560 robot application.Use MATLAB to plan a trajectory in Cartesian space using NURBS interpolation algorithm on the model of PUMA560 robot is constructed,The inverse kinematics equation is solved by the improved BP neural network. The pose parameters of Cartesian are spaced into the joint space of the robot, the correctness of improved methods are proved by simulation results. |
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