Design And Implementation Of Off-line Trajectory Planning & Simulation System For Six-joint Robot

Now,"robot" is known as the "Star",the rapid rise of robots has a great influence on the industrial production of the entire human society,the exploration of space and oceans,and the various aspects of human life.Six joint robot,as a typical robot,is one of the most common industrial robots in the field of industry.It is suitable for mechanical automation operation in many industrial fields,and trajectory planning of robot is one of the core contents of robot kinematics.The design and implementation of the six joint robot off-line trajectory planning and simulation system can improve the efficiency of the robot and greatly save the manufacturing time.It has important theoretical and economic value both in the manufacturing of robot industry and in the field of science and research.The main contents of this paper are as follows:(1)Starting from the functional requirements of off-line trajectory planning and simulation system for six joint robots.Based on the research progress of robot trajectory planning at home and abroad and the development status and advantages and disadvantages of the robot off-line simulation system,the advantages are used for reference.A simulation system for off-line trajectory planning of the six joint robot is designed based on modular design idea.(2)Based on the mathematical theory of robot kinematics,a mathematical model of six joint robot is established.Then the kinematics equation of the robot is derived,including the forward kinematics solution and the inverse kinematics solution derivation.Finally,the advantages and disadvantages of several solutions of the inverse solution are analyzed.(3)The motion planning of the robot is analyzed.The advantages and disadvantages of the commonly used path planning algorithm are analyzed for the path planning of the robot.At last,an improved PPRM algorithm is proposed for the shortcomings of the traditional PRM algorithm,and the effectiveness of the improved PRM algorithm is verified by the Matlab simulation.For robot trajectory planning,the methods of robot trajectory planning and trajectory generation are discussed in joint space and Cartesian space respectively.In the joint space,the interpolation calculation method of joint trajectory is discussed.In Cartesian space,linear function interpolation and circular arc interpolation are discussed.Finally,the process of trajectory planning is simulated with Matlab.(4)For robot trajectory planning,the methods of robot trajectory planning and trajectory generation are discussed in joint space and Cartesian space respectively.In the joint space,the interpolation calculation method of joint trajectory is discussed.In Cartesian space,linear function interpolation and circular arc interpolation are discussed.Finally,the process of trajectory planning is simulated with Matlab.