Study On Industrial Robot Control System Of Trajectory Planning

There are some Constraints such as moving as planned trajectory when industrial robots perform tasks. Then we should make trajectory planning which can improve the precise and stability of the robots movement, so it is very crucial to do research on industrial robots trajectory planning. This thesis concentrates on the research on the trajectory planning of industrial robots Cincinnati T3-746,to make it move as expected and it designs a excellent platform of Mechatronics develops a series of experiments for teaching.This thesis first Analyzes kinematics and dynamics of this robot and model in Kinematical method and gets Kinematics and inverse solutions. It introduces dynamics of this robot.By use Matlab,we get the articulated robot work space.It analyzes issues related to robot trajectory planning in detail ,introduces joint space and Cartesian space trajectory planning methods, Compares their advantages and disadvantages.It Linear interpoles and simulates in joint space.The controlling system of this robot use PC,interface board,DSP ,a new system which includes Motion Control Card based on DSP. The PCI-485 interface card is designed using XR17D158. Hardware-based position feedback is also used.According to the requirement of movement,we use PD and Gravity compensation control algorithm, and clearly introduces Digital PID control algorithm, and designs the software.We analyze the position system of this robot and do experiment on dynamic term,in which Gravity and friction term are the most important, we make curves fitting In different positions. It designs Gravity compensation and friction compensation, introduces PC applications, which shows the communication between Lower computer applications and PC. We complete the experiment of linear interpolation and verify the correctness of the underlying software servo control.