| Industrial robot is a multi-joint manipulator or more degrees of freedom robot in the industrial areas, which is an advanced automation equipment which integrating a variety of disciplines. With the continuous development of modern industrial automation, industrial robot has been widely used in many aspects, and the research on the industrial robot trajectory interpolation algorithm has also become a hot research direction of the robot control system.Firstly, I research the robot’s kinematics problem deeply. The PUMA560robot is used as a model, and the positive solution formula is deduced in detail by establishing the motion model and space coordinate. The problem of inverse kinematics in robot’s kinematics is solved by using algebraic method, and it can be simulated and verified by MATLAB.Then, I study the theory of NURBS deeply. I put forward a new NURBS curve order reduction algorithm base on the genetic-particle swarm hybrid algorithm by analyzing the current order reduction interpolation algorithm, which solved the low efficiency and poor stability issues during data transfer and exchange process in the interpolation system. The NURBS curve accuracy with reduced order was studied, and the accuracy of the interpolation can be ensured by the Feed-Correction-Spline and the chord error’s calculation. Through comparative analysis of experimental results, this algorithm can achieve better reduction effect, and improve the computational efficiency and the stability of the system.Finally, the whole system is verified and analyzed by the software simulation. And the3-D graphic simulation of the robot is realized. The algorithm in this paper is feasible by verifying the system based on hardware platform and the experiment result and data analysis. |
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