Research On Real-time Motion Planning Algorithm Of Multiple Joint Industrial Series Robot

The development of multiple-joint industrial serial robot in our country is later than the developed countries in the world and there is still a gap in technology. The task space trajectory interpolation is one of the key techniques of the robot motion controller, the quality of the interpolation algorithm directly affects the work accuracy and efficiency of the robot. At the same time, the task space trajectory interpolation is related to the mapping problem of task space trajectory and joint space trajectory, the mapping relationship between the two is very complex because of the restriction of robot link structure.This paper analyzes thoroughly the robot kinematics and the robot singularity. In view of the traditional path interpolation algorithm has the problem of low efficiency, poor real-time performance, the trajectory interpolation algorithm is divided into three layers in this paper, including the velocity planning layer, the path structure layer and the look-ahead velocity controlling layer. In the velocity planning layer, the S-type velocity controlling curve is used as the core velocity planning algorithm. In the path structure layer, the space path is divided into the position path, the orientation path and the transition path for study. The efficient and practical task space trajectory planning algorithm is proposed. The way of combining with the straight line and the tiny circular arc to solve the smoothed transition problem of the space position trajectory is proposed and the way of using the axis-angle separated linear interpolation to construct the robot orientation trajectory and orientation transition trajectory is also proposed. In the look-ahead velocity controlling layer, the rough interpolation and fine interpolation of two level interpolation are designed to achieve the look-ahead velocity controlling function and solve the problem which the joint velocity and acceleration of robot are bigger than the maximum when task space trajectory is mapped into joint space trajectories, thus improve the stability and accuracy of the robot motion.Finally, the C++ language is used to encapsulate the trajectory interpolation algorithm, and through a lot of experiments, the test results are verified by simulation in MATLAB environment. The result of simulation verifies the feasibility and effectiveness of the proposed algorithms in this paper.