Path Planning Algorithm Study Of Industrial Robot With Six Degrees Of Freedom

As technology developing, people’s requirements for industrial robots have gone up, notonly requires conventional industrial robots to perform PTP movement (point to point motion)and simple CP exercise (such as linear motion and circular motion), but also to follow aspecific path for high-speed movement, to achieve the optimal time during exercise. So,paper with depth studying of the robot along a specific path Time-optimal trajectory planningand successful using of cubic B-spline curve of the path by a series of discrete points of therobot was approaching a specific path, using genetic algorithms, the robot proceeds along theapproach path, the robot uses the time optimal trajectory planning in order to ensure the robotdoes not deviate from the original path, based on the complete time optimal motion.First, the paper Introduction of robotics applications and robotic technology aredescribed, following with a brief introduction of the principles and methods of robotkinematics. Then a general analysis of the robot trajectory planning, trajectory planning injoint space to discuss the cubic polynomial function interpolation method; in Cartesian space,the in-depth study of the linear function interpolation and circular interpolation space.Finally, this paper discusses the time optimal trajectory planning of robot basicprinciples of genetic algorithm optimization theory and B-spline curve is calculated based onthe use of B-spline curve approximation robot joint trajectory, and the use of B-spline curvesub-processing characteristics, proposed a genetic optimization algorithm based on timeoptimal trajectory of robot design. This method, the robot along the entire movement of theB-spline curves to optimize the total time can be attributed to the robot along a B-spline curvefor each movement of sub-optimization of the time required to optimize the joint angularvelocity and angular acceleration considered two kinds of constraints. Using the matlabsoftware, the path planning algorithm for simulation optimization, simulation results showthat the robot joints to nodes significantly reduced the total time, the trajectory of each joint isa smooth curve, which verifies the validity of the algorithm.