Analysis And Simulation System Of Industrial Robot With Six Degrees Of Freedom On Path Generation

With the development of modern manufacturing, industrial robot has become indispensable equipment and its application has already penetrated into various industries. In the study of industrial robot technology, the robot kinematics plays an important role. It is the basis of kinematics analysis, off-line programming and trajectory planning, also one of the important influencing factors of industrial robot off-line programming precision and speed. On the basis of robot kinematics, study the line, arc and free curve motion has important theoretical significance and practical value.This thesis takes MOTOMAN-HP6 robot as the research object, summarizes the present research situation of industrial robot off-line programming system, analyzes the development trend of industrial robot and introduces the mathematical foundation of the robot kinematics briefly. According to the related parameters of the robot, the kinematics model and the relevant coordinate of the robot are built, the kinematics and inverse kinematics problem is studied, and the related algorithm of inverse kinematics was analyzed and compared.The algorithms of straight line and arc movement and the approximation error are analyzed. On this basis, the related theory of free curve is introduced and the approximate algorithm of free curve by using straight line is proposed, and the approximation error is analyzed. Finally, the system interface based on MATLAB is built and the related program is compiled. The straight and curve motion of the robot are simulated with instances and the system design is completed. For the design of the off-line programming system of the practice industrial robot laid the foundation.