Time-optimal Trajectory Planning Of Industrial Robot

During the practical application of the industrial robot, the working efficiency and quality are important index of weighing the performance of the robot. It becomes key problems which need solving badly to raise the working efficiencies and reduce errors of industrial robot in operating actually. Time-optimal trajectory planning of robot is that optimize the path of robot according to performance guideline of minimum time of robot under all kinds of physical constraints, which can make the motion time of robot hand minimum between two points or along the special path. The purpose and practical meaning of this research lie in enhance the work efficiency of robot.First of all, this paper introduces robot's define and development prospect. The state of development using and specification requirement to the technology of the robot is described. The paper also summarizes the kinematics dynamics and time-optimal trajectory planning of the robot. It presents the woks of inside and outside about time-optimal trajectory planning of the robot all-round. The development and prospect of optimization algorithm based on chaos is discussed.Secondly, general problems in robot trajectory planning are analyzed. In joint space, cubic trajectories high-order polynomial trajectories and linear trajectories which is joined by the parabola is detailed account separately at different situations. In Cartesian space, linear trajectories and arc trajectories are discussed deeply. Then the advantages and disadvantages of trajectories in joint space and Cartesian space are compared. The most important is that the paper studied the basic theory of robotic time-optimal trajectory planning chaos optimization theory and the Algorithm of B-splines. On this basis, fourth-order quasi-uniform B-splines is adopted to construct trajectory. In result , a modified and effective optimization algorithm based on chaos of time-optimal trajectory planning is proposed. The physical constraints include joint velocity, acceleration, jerk and torques in the optimization. An example on B-splines path optimization both in joint space and Cartesian space including Cartesian path constraint for PUMA560 robot pre-3 joints is presented for illustration.At last, the paper discussed briefly the system's structure of PUMA560. According to the structure defect of its control system, the control system of PUMA560 at intelligent automation technology key laboratory of hunan university is reconstructed; Through calculating the route points in the Cartesian space byteaching operate PUMA560 robot, time-optimal trajectories is obtained and thus the Algorithm realizes the planning of the time-optimum trajectories of industrial robot. A kind of transforming of hard and software is put forwarded. In the hardware transform this paper introduces PMAC position controller in detail, presents the method in isolation extraction and adjust about feedback signals, the diagrams entered by sport control signals, the controller structure principle picture of PUMA56CK PMAC; In the software transform the module structure forms is discussed and the implementation methods of real-time control module are studied in detail.