| As an advanced production tools, Industrial robots are being widely used in the production, equipment installation, machinery manufacturing, mining drilling and other related areas. Application and functional development of industrial robots concerned by enterprises and researchers, and also is a hot research field currently. Using IRB120industrial robot as an object, paths and time optimization is studied under the conditions of one Degrees of Freedom (DOF) unconstrained among six DOF in this thesis. It has modeled mathematical and researched trajectory. The shortest path is looked as performance indicators. On the basis of the shortest path planning on doing the shortest possible time, so that the robot working with least time. Making use of the optimal path and time optimization method to find the optimal integrated robot optimal trajectory under the conditions of one degree of freedom unconstrained. Following tasks has been completed:1. According to the structure of the IRB120industrial robot, modeled the mathematical with D-H parameter method, analyzed the robot forward and inverse kinematics.2. Analyzed of existing trajectory planning method in Cartesian space and joint space. Achieved arm trajectory to the target point from any point planning with the cubic polynomial method in the joint space planning. 3. Studying the shortest path optimization algorithm. Determine manipulator reachable workspace to achieve the shortest path planning wave diffusion path search algorithm, and compared with the depth-first search algorithm path.4. On the basis of the optimal path using the quadratic polynomial interpolation method to optimize the running time, form optimal trajectory. Optimize the running time with the cubic polynomial method and compare with the results of quadratic.All algorithms simulated in MATLAB environment. Results show algorithms are reliable and effectiveness. The algorithms are moved into control of IRB120. And these are run properly online. |
PDF Full Text Request