Modeling, Kinematics Simulation And Time-Optimal Trajectory Planning Of Industrial Robot

Since the beginning of the1960s, the research, development and application of Industrial robot have always been the concern of the enterprise and scientists. They are widely used in chemical industry into production, equipment installation, road construction, machinery manufacturing and many other areas. Basic the research and simulation analysis both on kinematic and trajectory planning problems are discussed based on the IRB140robot researched and developed by ABB Company. And the paper has launched research work in the following aspects:1. According to the configuration of ABBIRB140robot, the robot forward and inverse kinematics model is created by Homogeneous transformation matrix, the standard D-H parameters and algebra method.2. The realization of three trajectory planning are discussed in Joint space as following, Cubic polynomial trajectory planning, Fifth polynomial trajectory planning and fourth-order quasi-unifom B-splines trajectory planning; In Descartes space there has two kinds of interpolation method:Interpolation of space linear and Interpolation of space arc; Finaliy, these algorithms are sinmulation.3. The3D graphics simulation system for ABBIRB140robot kinematic, is simulated with the Robotics Toolbox and GUI of the MATLAB. Based on the simulation, we verify the correctness of the theory equation. Last fourth-order quasi-unifom B-splines is adopted to construct trajectory, in result, a new method of time-optimal trajectory planning was proposed. The physical constraints include joint velocity, acceleration and jerk in the optimization. An example of simulation on B-splines trajectory optimization in joint space for ABBIRB140robot pre-3joints is presented.Through the simulation, the correctness of the modeling and optimization are authenticated, and the results will be a guiding role for the application of industrial robot.