Research On Modeling And Optimization Of Industrial Robot Movement Trajectory

Industrial robots play an important role in automating the manufacturing process and improving labor productivity.Because the quality of industrial robot trajectory planning directly affects the level of energy consumption,how to properly plan the optimal energy consumption of industrial robots has attracted the attention of many scholars and robot manufacturers.This paper researches LR4-R560 six-degree-of freedom mechanical arm.Firstly,both kinematics and dynamics models are built to provide a basis for the study of trajectory planning and the optimization of energy consumption.Secondly,under the constraints of the angle,angular velocity,and angular acceleration of each joint,the minimum energy consumption is used as the optimization goal of the trajectory of the robotic arm,and the double-population cuckoo algorithm(DCS)combined with the fifth degree polynomial interpolation method is used to plan an optimal energy consumption trajectory.The main research contents are as follows:(1)To solve the forward and inverse solutions of the kinematics of the robotic arm,we firstly establish the LR4-R560 robot arm link coordinate system based on the robot kinematics mathematics foundation and the DH method;secondly,we combine the LR4-R560 robot arm related link parameters to establish motion Learn positi ve and inverse solution models.The simulation results verify the correctness of the forward kinematics and the effectiveness of the optimal solution of the inverse kinematics,which provides a practical basis for the trajectory planning of the robotic arm.(2)To solve the joint torque during the motion of the robotic arm,firstly,according to the characteristics of the three methods commonly used to establish the dynamic model,the Lagrange method is used to establish the equation of the dynamic model.It is relatively simple and easy to understand.Secondly,we combine the relevant parameters of each link of the LR4-R560 mechanical arm,the main coefficients in the equation are calculated,the dynamic model is established,and the torque value of each joint is obtained,which lays the foundation for the optimization of the energy consumption of the mechanical arm.(3)For the problem of unstable motor during the motion of the robotic arm,firstly,the characteristics and methods of joint space trajectory planning and rectangular coordinate space traj ectory planning are studied.In order to prevent singular points,the joint space trajectory planning method is selected Planning;Secondly,the simulation experiment comparison between the algorithm of cubic polynomial interpolation and algorithm of fifth degree polynomial interpolation.The experimental results show that the algorithm of the five order polynomial trajectory planning is used to keep the angle,angular velocity and angular velocity of each joint continuous,ensuring the smooth movement of the robot arm.(4)In order to solve the problem of high energy consumption during the movement of the robotic arm,a method for solving the optimal energy consumption trajectory based on the double-population cuckoo algorithm is proposed.Under the constraints of each joint angle,angular velocity and angular acceleration,the optimal energy consumption is used as the target function,and the double-population cuckoo algorithm combined with the algorithm of fifth degree polynomial interpolation is used to optimize the target trajectory.The experimental results show that the double-population cuckoo algorithm can effectively plan a trajectory with optimal energy consumption.Compared with the standard cuckoo(CS)algorithm,the total energy consumption is optimized by about 11.7%.Compared with the particle swarm optimization(PSO)algorithm,the total energy consumption is optimized by about 18.2%.