Research On The Method Of Spatial Trajectory Generation For Six Degree Of Freedom Robot

As an important part of robot technology,robot trajectory is the key problem of robot motion.The formation of the six degree of freedom robot trajectory depends on the synthesis of the joint motion of the six,and the joint motion is planned by the spatial trajectory.At the request of the industrial robot can effectively complete the work tasks at the same time,it should also require industrial robots running smoothly,ensure that all the movement of the joint had no obvious impact,prolong the service life of the robot.At the same time,in order to ensure the stable operation of the robot,but also to shorten the exercise time.In order to solve the problem that the process of inverse solution is difficult and the solution of motion is multiple,the trajectory of the industrial robot is reasonably planned to improve the service life and working efficiency of the industrial robot.First of all,based on the basic theory of robotics,the pose of rigid body in space is described.The basic transformation matrix is obtained by the rotation,translation and compound transformation between adjacent coordinate systems.The mathematical model of the robot is established by using the D-H method,the coordinate system of the connecting rod is set up,and the kinematics analysis is carried out,and the positive kinematics equation is obtained,which provides the theoretical basis for the research of the manipulator.Then,the inverse kinematics of the robot is obtained by the inverse kinematics of the forward kinematics equation.The forward and inverse kinematics analysis of the robot provides theoretical support for the following research.Secondly,this paper analyzes the general method of MH50? robot in the trajectory planning,and discusses the interpolation algorithm of the industrial robot in the joint space coordinate system and the Cartesian coordinate system.In the joint space coordinate system,the three polynomial interpolation method and the five polynomial interpolation method and the linear interpolation method of parabolic transition are used to calculate the coordinates of the interpolation points.In Cartesian space,linear interpolation and circular interpolation are studied and deduced in detail.The advantages and disadvantages of the two spatial interpolation algorithms are compared,and the selection of the two spatial interpolation algorithms under different conditions is distinguished.Then,the time optimal trajectory planning method based on genetic algorithm is analyzed,and the basic principle of genetic algorithm,the mathematical expression and characteristics of B spline curve are discussed.The genetic algorithm is used to analyze the trajectory planning method considering the angular velocity constraint,angular acceleration constraint,angular acceleration constraint,constraint coefficient.Finally,the main research realization and Simulation of robot trajectory planning,robot simulation modeling,kinematics analysis,workspace and trajectory established by using Matlab software in Robotics Tools toolbox.Through the simulation analysis in the joint space coordinate system and the Cartesian space coordinate system,the trajectory planning curve under the same path point is obtained,and the optimal trajectory planning method is compared and analyzed.The results show that the trajectory curve obtained by the five polynomial trajectory planning method is smooth,and the superiority of the algorithm is verified.