The Research On Obstacle Avoidance Trajectory Planning And Control Algorithms Of A 6-DOF Manipulator

With the continuous improvement of robotics technology and the expansion of market demand,industrial robots are more and more widely used.6-DOF manipulator is the representative of industrial robots.In this paper,aiming at the self-developed XIOPM manipulator,the electronic control system design,kinematics and dynamics modeling analysis are carried out.On this basis,the obstacle avoidance trajectory planning and trajectory tracking control algorithm of the manipulator are mainly studied.The electronic control system of XIOPM manipulator is designed and configured.The computer interacts with the motion controller through the network.The motion controller transmits position instructions to the driver through the pulse plus direction signal.The driver controls the motor of each axis through the speed loop and the current loop and feeds back the position signal through the encoder of each axis.The model of joint device of electronic control system is introduced,and the electronic control box and power box are designed.According to the system scheme,the wiring table is made,the parameters of driver and motion control card are configured,and a reasonable experimental platform of mechanical arm,electronic control box,power box and wiring is formed.The trajectory planning algorithm for obstacle avoidance of manipulator is studied.Aiming at the special requirements of obstacle avoidance trajectory planning of manipulator,an obstacle avoidance trajectory planning algorithm based on six-degree polynomial is proposed.Through collision detection,trajectory planning and genetic algorithm optimization,the kinematics performance of manipulator is optimized while avoiding obstacles,and the motion efficiency is improved to achieve the goal of safety,stability and efficiency.The validity of this algorithm is validated by simulation experiments with MATLAB robot toolbox and optimization toolbox.The trajectory tracking control algorithm of manipulator is studied.The control difficulties of multi-joint manipulator are analyzed,and a trajectory tracking controller based on adaptive fuzzy inversion algorithm is designed.Through the simulation and contrast test with MATLAB SIMULINK,it is verified that this controller reduces the trajectory tracking error of the manipulator,effectively decreases the influence of model uncertainty and external disturbance,and achieves the high precision trajectory tracking control of the manipulator.