Motion Planning And Experimental Research Based On 6R Camera Robot

Firstly,based on the mechanical structure and technical parameters of the 6R photographic robot,the kinematic model and its kinematic equation were established by D-H improved method.The analytic solution and inverse solution of kinematics are presented,and the optimization of the algorithm is given.The man-machine interface of kinematics problem is designed by MATLAB GUI,and the correctness of the forward and inverse kinematics solution is verified.Secondly,the trajectory planning of the 6R photographic robot is studied.The trajectory planning of straight lines,arcs and NURBS curves is studied in cartesian space.At the same time,the attitude requirements in the process of camera shooting have been expressed in mathematical form to obtain the pose matrix that the camera needs to meet,and the feasibility of motion planning and inverse kinematic solution has been analyzed through MATLAB Simulink and Solid Works joint simulation.Thirdly,in order to expand the operation scope of the 6R photographic robot,the mechanical structure of the 6R photographic robot 's extension axis is designed.Meanwhile,a motion control system is designed for the extension axis and each part is described in detail.Finally,the synthesis and decomposition motion of the camera are studied and a set of optimal solutions are given.This set of solutions will be the basis for the combined motion of the extended axis and the 6R photographic robot.Finally,the test results of the positioning accuracy,repeated positioning accuracy and motion stability of the extension shaft show that the extension shaft designed can meet the practical requirements.In addition,the simulation and actual shooting experiments of straight lines,arcs and helical curves of the 6R photographic robot were carried out.The experimental results were consistent with the theoretical results,which proved the positive determination of the motion planning,and the smoothness and smoothness of each joint of the 6R photographic robot further proved the correctness of the inverse kinematic solution and its algorithm.At the same time,the spiral curve shooting experiment based on the joint motion of the extension axis and the 6R photographic robot was also carried out,and the feasibility and correctness of the synthetic motion and decomposition motion were proved by the experimental results.