Research On Key Technology Of Trajectory Planning For Industrial Robot Processing

With the wide application of industrial robots in various automated production workshops,traditional robot trajectory planning methods have become more and more difficult to meet the needs of various robotic processing tasks.Therefore,it is necessary to research on the robot trajectory planning to meet the requirements of different robot processing tasks.For the processing tasks such as robot milling that require trajectory stability,it is better to not only provide guidance for the better trajectory planning for the attitude of the space point;For the processing tasks such as robot spraying that require trajectory smoothness,there is a sudden change in curvature when only considering the smooth transition of the arc in the Cartesian space,and the smoothing of the trajectory of the joint space is neglected.For the processing tasks such as robot multi-point jumps that require minimum trajectory energy consumption,only considering the optimal trajectory planning between two points with minimum energy consumption cannot solve the problem of optimal energy consumption for multi-point jumps.Therefore,this paper researches on key technology of trajectory planning for industrial robot processing.The main contents are as follows:Taking six-freedom serial robot as the research object,the related models of robot trajectory planning is introduced.For the processing tasks such as robot milling that require trajectory stability,the static stiffness model of the robot is constructed and the stiffness evaluation factor is proposed.For the processing tasks such as robot spraying that require trajectory smoothness,the robot spline curve model is constructed,and three and five times of Cardinal splines will be applied to Cartesian space and joint space,respectively.For the processing tasks such as robot multi-point jumps that require minimum trajectory energy consumption,the robot dynamics model is constructed to solve the joint driving torque.Research on robot trajectory planning method based on stiffness optimization.Firstly,a set of joint inverse solutions of the fixed position and attitude of the robot is obtained by inverse kinematics.The robot inverse solution screening method based on the stiffness evaluation factor is proposed.Then with the constraint of the space point on the robot processing attitude,based on the inverse solution screening method,the robot attitude screening method is proposed.Finally,using the inverse solution screening method and attitude screening method,the trajectory planning method based on robot stiffness evaluation factor is proposed and verified by simulation.It can be seen from the simulation case that the trajectory planning method based on robot stiffness evaluation factor can improve the static stiffness of the robot effectively,so that the processing stability of the robot improved.Research on robot trajectory planning method for robot continuous trajectory smoothing.For the continuous trajectory in which spatially continuous straight segments are connected in sequence,research on the arc transition and three times Cardinal spline transition methods in Cartesian space,research on five times Cardinal spline interpolation in joint space.Using three times Cardinal spline transition method to avoid sudden changes in the curvature of the transition point and using five times Cardinal spline to improve joint space smoothness.So the double-layer trajectory smoothing method improves trajectory smoothness better.Research on robot trajectory planning method for robot multi-point jumps that require minimum trajectory energy consumption.Introduce the model of robot multi-point jumps that require minimum trajectory energy consumption and the overall algorithm flow.Introduce Ant Colony Algorithm and Improved Ant Colony Algorithm.Analyze the energy consumption of robot two-point jumps and build energy consumption model.And finally use the Improved Ant Colony Algorithm and robot energy consumption model to get the optimal jump sequence.