Six Degree Of Freedom Industrial Robot Motion And Control Technology Research

In the current 21th century, robots have been more popular, its performance improvement has a huge role in promoting development for the society, and attracted more and more robotics research institutions for innovation and transformation. According to this project requirements, the group has developed embedded platform based six degrees of freedom industrial robot controller , in order to meet the operational requirements of practical applications, further more to improve the smoothness, stability and accuracy,this paper analysis and research the kinematics and dynamics key technologies of the robot.Positive and inverse kinematics solver is the base of robot trajectory planning, the paper first use DH standard method to built six degrees of freedom robot body model, do kinematics analysis, and derive inverse kinematics transformation formula. Machines by the end of the trajectory of the motor coordination of the joint axis movement to achieve, if the joint trajectory and velocity curve is not smooth, the robot will bring a series of issues such as jitter and noise, which affects the life of the robot, this characteristic curve of the trajectory planning of the main indicators that the trajectory planning of higher order derivatives to curve continuously, while the curve to ensure that planning out not only to the displacement, velocity, acceleration, continuous, and the need to make the jerk as continuous. The end of the robot trajectory eventually need to be converted to joint space, the robot trajectory planning, the curve interpolation operation is difficult and the core problem, but also major foreign companies focus on security technology, the stability of the interpolation algorithm and the algorithm is directly related to the merits of the merits of the robot operation, so the interpolation algorithm of the robot research work can not be avoided. This paper presents a method of acceleration and deceleration control before interpolation, first draw up a Cartesian space of the S-curve acceleration and deceleration speed control, acceleration and deceleration control before interpolation to play the exact position of advantage, then speed and interpolation cycle in the S-curve interpolation on each selected node and all nodes in the middle position converted to the robot needs to reach the angle of each joint, and finally in the joint space of each joint angle using continuous, high accuracy of the cubic B-spline trajectory to be together to meet the robot's high-performance speed control requirements. Robot system is a highly complex and strongly coupled nonlinear system, there is always the robot modeling errors, disturbances, and some of the uncertainty of the unknown parameters, movement of the robot system will be with the attitude of inertia is changed.Because multi-joint rigid robot model complexity of the structure, so that in the complex conditions of high-speed, high accuracy and stability control, there are many issues to be resolved. This paper presents an uncertainty of industrial robots, the adaptive sliding mode tracking control algorithm using sliding mode algorithm is robust to improve the system load changes and the friction﹑ parameter perturbations of nonlinear factors such as the anti-interference, and for variable structure control for systems with high-frequency buffeting uncertainty invariance of the inherent shortcomings of robotic systems using adaptive algorithm to adjust the unknown parameters, combined with the fuzzy control system is accurate for any continuous function approximation ability, sliding mode control can be achieved for adaptive approximation of the gain switching, eliminating buffeting a smooth precise operation purposes. Robot system to the uncertain existence of the dead zone caused by high-precision control of the error, this robotic system for the unknown dead, the use of adaptive strategies-line identification system parameters and the dead zone width, and the use of fuzzy dead-time compensation strategy for to compensate for dead, while the robot system in the uncertainty of the external interference, the introduction of robust control is to eliminate them.