Six Degrees Of Freedom Robot Path Generating Technology Research

The current use of6degrees of freedom industrial robot is mainly a second-generation robot rely on teach programming,the robot in the face of planning trajectory and actual trajectory deviation can not be self-regulation, and therefore of MOTOMAN six degrees arc welding robot based on the installation of visual sensor, through the monitoring of the actual robot trajectory planning trajectory deviation, to find the error compensation method of robot movement, and eventually come to the new path after optimization improvements, this article by6degrees of freedom robot trajectory deviations occur on the deviation of the amendment then generated by the robot trajectory.Firstly, the Shou gang MOTOMAN company purchased in the laboratory production of HP-6arc welding robot based on robot trajectory planning with cubic polynomial method, and calculation on the basis of the analysis, then use matlab robotics toolbox for analysis and simulation the robot motion path.Secondly, in calculating the robot Jacobian matrix to obtaining the speed control of robot correction process, and on this basis to optimize the robot corrective path.Thirdly, theoretical analysis and correcting the trajectory of the optical robot, use the image edge for robot vision, based on image binarization processing and mathematical algorithms to find the robot motion path detection, error analysis and error correction method.Finally, in the preceding analysis based on the results, using VC++to write vision Robot correction system software, and the robot trajectory tracking the effectiveness of the correction method and accuracy obtained by experiment, and concluded..