Research On Auto-body Position System Based On KUKA Robot

Localization system for mobile robots is always the most basic research project, The accurate positioning is a result. Many things influence the result, and the process which is Travel path is the most important influence. The accuracy of the system of good is the path planning. This paper studies on the path planning,optimization and control precision by combined algorithm based on actual item.The actual specific requirements of project can be drawn by the research on the KUKA visual robot positioning system based on actual item. First, let the system and the response time must be within three seconds. Second, control accuracy must be controlled to within plus or minus1mm.This paper mainly discussed and studied from two aspects based on actual specific requirements of project. One is the optimal trajectory planning; One is Ensure the accuracy of the system in time domain. In allusion of them, an algorithm combinates improved chaos optimization B-spline trajectory design and BP neural network is used. All trajectory curves are calculated by the improved chaos optimization B-spline trajectory design. And BP neural network is used to convert the joint angle parameter to time domain parameter, Memory Assessment is assessed by calculating the angle, angular velocity, angular acceleration. The effectiveness of the control algorithm be improved by the simulation and statistics on the actual run-time monitoring, without comparing the time optimal, the actual specific requirements of project be filled by control the time stability. Although a similar problem has been studied by many scholars before, and the alone control is always used, which is easier to implement in theory and other factors are ignored in practice. Some factors can be thought about in combination algorithm and can solve practical problems.