Research On Simulation Of Trajectory Planning Based On Industrial Robot For Flexible Manufacturing Cell

In response to the call of the development goals propised by Prime Minister Li Keqiang at the third meeting of the government work report of the Twelfth National People's Congres:"Manufacturing industry is to our advantage,implementing 'Made in China 2025',adhering to innovation.driven,restructuring intelligently,strengthening the foundation,green development,accelerating the shift from a manufacturing powerhouse manufacturing",in this paper,basing on the laboratory six degrees of freedom of KUKA industrial robots,study industrial robots trajectory in flexible manufacturing cell planning,to better serve the industrial production.Based on the basic theory of industrial robots robot modeling and simulation studies,and combining with actual work,setting analog obstacles and developing a simulation system based on flexible manufacturing cells and experimentally verified.In this paper,the following aspects were studied(1)Based on the homogeneous coordinate transformation theory,analysising the structure and parameters of the robot,establishing the corresponding DH.parameter model,this paper solves and obtains analytical solution of the forward kinematics and the inverse kinematics model,by means of three.dimensional modeling software to verify the correctness of forward kinematics and inverse kinematics model analytical solutions.(2)To take full advantage of the robot's workspace and make it work better dynamic performance during operation,this paper further studys of the dynamics of the robot based on the robot kinematics model.Firstly,this paper establishes a robot Jacoby matrix.Then building the robot dynamics equations based on Lagrange method,combining with the robot structure and parameters,the kinetic model of the robot can be obtained.Using of virtual prototyping technology which is software ADAMS for dynamic simulation analysis,the robot trajectory and force and moment curves can be got,analyzing and exploring its trends.The results not only as a basis for optimization control,and can provide a reference for optimizing robot design(3)On the basis of kinematics and dynamics analysis,the article goes on robot trajectory planning study,and analyzes in joint space trajectory planning and Cartesian robot trajectory planning,then solves the robot joint space trajectory planning and Cartesian trajectory planning.In order to compare the accuracy and effectiveness of different robot trajectory planning methods,the article respectively simulates the method of cubic interpolation polynomial and five interpolation polynomial,and gets the kinematics curve trajectory planning of joint space.The simulation results can be drawn,the five polynomial interpolation for trajectory planning of industrial robots helps to avoid vibration during operation.Meanwhile,the paper establishes a three.dimensional coordinate space,simulates work scenarios for a Cartesian trajectory planning obstacle simulation,obtains an arcuate path route meet the job requirements.(4)Finally,creating a simulation program with created VRML models and MATLAB through the control interface GUI based on the widely used MATLAB,flexible manufacturing cell was constructed trajectory planning of real.time simulation platform.The platform consists of a robot control buttons and 3D visualization window composition,and adjust real.time interactive simulation can be achieved with the robot through the control panel.Which stores the solved operating position and angle free.adjustment button,using 3D visualization window to display the storage state of the robot trajectory in real time by adjusting the storage program,the article uses existing laboratory robot simulation platform for the actual verification.