Research On Kinematics Analysis And Trajectory Planning For Six-axis Industrial Robot

With the introduction of German Industry 4.0 and China Manufacturing 2025,industrial robots have gradually replaced traditional manual operations and become one of the indispensable devices in the current intelligent manufacturing plants.The lucubration of kinematics and trajectory planning in the thesis based on the FANUC ARC 100 i six-axis industrial robot,which has high theoretical significance and engineering value.Firstly,based on the mathematical theory of the kinematics for FANUC ARC 100 i six-axis industrial robot,the kinematics function is built by the improved D-H parameter method,the theoretical basis of the kinematics analysis for the six-axis industrial robot is completed by the analysis and derivation of the forward and inverse kinematics of the robot.Finally,the correctness of the forward and inverse kinematics derivation is verified by simulation.Secondly,to solve the problems of poor stability and low precision of industrial robot inverse kinematics for traditional analytical and numerical solutions,a MPGA-RBFNN algorithm combining MPGA(Multi-population Genetic Algorithm)with RBFNN(Radial Basis Function Neural Network)is proposed.The inverse kinematics of industrial robot is solved by RBFNN,transforming the nonlinear problem into the linear problem,which keeps the high precision of nonlinear problem.At the same time,MPGA with parallel structure is used to optimize the weight and network structure of RBFNN,and the global optimization ability of the algorithm is enhanced.The experimental results show that the proposed algorithm improves the stability of the inverse kinematics of industrial robot,the training success rate and calculation accuracy are also significantly improved.Thirdly,aiming at the problem of poor stability in industrial robot trajectory planning,a radial basis function interpolation method is proposed.Firstly,the continuity of the trajectory curve is verified under the conditions of point-to-point and continuous path point.Then the proposed method in this thesis is used to optimize the running time of the industrial robot and compared with interpolation algorithm.The results prove that the proposed method can realize the smooth movement and effectively solve the chatter phenomena of industrial robot.Finally,the FANUC ARC 100 i six-axis industrial robot is used in the experiment.The trajectory planning system is built by Microsoft Visual Studio software and C#language to verify the improved algorithm in the thesis.The experimental results show that the proposed algorithm effectively improves the stability of each joint trajectory.