| Six freely rotating robot, a multi-function mechanical device, belongs to the industrial robots, which can do duplicate programming and complete some operations or even the mobile operations. This paper studies robot optimized trajectories. In the first place, it has introduced the development of robot in our country and abroad and its application. Then it has analyzed the kinematics of six-degree robot with a focus on the robot's inverse solutions and positive solutions as well as the setting-up of a mathematical model, which are the important basis of robot control.Robot is required to complete a movement as a task. In order to make robot fulfilled the task, it is necessary to carry out the scheduled trajectory planning. Trajectory planning is to design robot joint displacement, velocity, acceleration on the basis of robot hand operation task. Then we know that the planning is concerned with the law of movements of time. During robot trajectory planning exercise, spatial planning methods are adopted, such as cubic polynomial trajectory planning, path point cubic polynomial interpolation, parabolic fitting of linear interpolation. When the trajectory is very complicated, Descartes space trajectory planning will be employed, such as straight-line trajectory interpolation method, and the circular interpolation method. At the same time, time optimal trajectory planning principle is also in application. Because of robot's uncertainty in movement, robust control will be applied for trajectory tracking. Due to the inhibition control system instability of robust controller, it is necessary to introduce robust control rate and its specifications to keep its systematic dynamic characteristics stable and control trajectory's tracking accuracy. Application of VC + + in the host computer can achieve joint space trajectory interpolation algorithm, control the robot linear interpolation and circular interpolation movements, and ultimately provide two joints trajectory tracking curve. |
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