Research On High Accuracy Trajectory Tracking Control For Six Degree Of Freedom Serial Robot

With the improvement of China's economic level,the development of industry is also accelerating.Industrial robots are playing an important role in the transformation and upgrading of traditional manufacturing industry,especially in labor intensive industries because of the advantages of high efficiency,stability and reliability,good repetition precision and ability to work in high risk environment.Nowadays,industrial robots have been gradually applied to various fields in industrial manufacturing,and the technology of their applications have become more and more advanced.In this paper,a six degree of freedom(SDOF)serial robot which was not satisfied with the Pieper criterion was selected as the main research object.In order to achieve the goal of high precision control,the research on kinematics modeling,trajectory planning and trajectory tracking control was carried out.The main research work include the following aspects.(1)A positive kinematics model of the six degree of freedom serial robot in this paper was established by using screw theory method,and a genetic algorithm based on real number coding was improved,which was used to reverse the kinematics of the robot.The experiment proved that the improved algorithm can be used to solve the high precision solution.(2)The trajectory planning of the robot task space was studied.In view of the space position trajectory planning,a multi point line and a linear arc hybrid trajectory planning algorithm were established.In view of attitude trajectory planning,a multi attitude trajectory planning method based on arc hybrid quaternion curve was improved.The experimental results showed that the improved algorithm can generate two order smooth and continuous attitude trajectories.(3)The research on trajectory tracking control of the robot was carried out.A robot trajectory tracking control method based on an active disturbance rejection control(ADRC)was established,and an improved control scheme was proposed.The combined simulation technology of MATLAB and ADAMS was used to verify the feasibility of the ADRC technique applied to the trajectory tracking of the robot,and the simulation result showed the improved ADRC had higher joint trajectory control accuracy than the classic ADRC.(4)Simulation experiment of robot task tracking accuracy was carried out.The accuracy of the task space trajectory tracking control was compared and analyzed between the typical ADRC scheme and the improved ADRC scheme.The simulation results showed that the proposed improved ADRC scheme was nearly 50 times more accurate than the typical ADRC scheme,its precision was 0.01mm,,and its attitude trajectory tracking control precision was reduced at least 15 times,and its precision is 0.01 deg.