Research And Implement Of Kinematics Algorithm And Control System For 6-DOF Serial Robot

Under the present background of Intelligent & Connected manufacturing industry, industrial robot has become the pole of advanced equipment manufacturing industry as ’crown jewel in the manufacturing industry’. The property of motion controller regarded as the core parts of robot, can directly influence implementing performance of the whole robot system, and to a certain extent can clamp down on the development of other key components. In order to enhance the performance of robot motion control system, to study the high-performance algorithms for kinematics control and to design high-integration, open, stabilized and real-time motion controller have been always hot spots of research problem in the field of industrial robot motion control.This paper systematically investigates the related kinematics algorithms of industrial robot. Firstly, the relevant theory knowledge of robotic kinematics is elaborated, mainly pointing out four familiar kinds of representing method and its applications for the description of rigid body orientation. Secondly, by using D-H modeling method, the robot kinematic model and forward kinematic equation are derived, on the basis of which this paper further discusses the solving process of robot workspace and its boundary based on Monte-Carlo simulation method. Then, Aiming at the robotic model satisfying Pieper criterion, based on singularity analysis for the Jacobins matrix, the inverse kinematics can be solved and optimized by closed-form algorithm. As for the solutions which do not satisfy Pieper criterion, a modified damped least square method is proposed from the perspective of singularity avoidance, and it can effectively guarantee the stability and accuracy of robot kinematics algorithm at singular configurations. For the problems of trajectory planning, the quintic polynomial interpolation is adopted to complete the trajectory of point-to-point movement, which guarantees the continuity of joint position, speed and acceleration. The straight line and circle arc is interpolated by space vector and coordinate transformation method, and quaternion interpolation method is exploited to generate smooth trajectory of orientation to complete the Cartesian trajectory planning. In addition, aiming at the Singularity questions in the course of Cartesian trajectory planning, a mixed trajectory planning approach is proposed to handle the singularity configuration rapidly based on position level kinematics, which makes robot avoid the influence of the singularity configuration under the condition of smaller error with good practicability.Finally, Based on analysis of existing architecture of industrial robot motion control system, the hardware platform is designed based on FPGA chips. The SOPC hardware and software co-design technology are adopted to build up on-chip hardware system of FPGA, and the control system inner application software is implemented on embedded system Nios IP soft-core. Meanwhile, the related robot kinematics control algorithms of this paper is embedded in the designed control system, and the simulation and experiment verify the superiority of robot kinematics algorithms of this paper.