The Research Of Industrial Robot Trajectory Planning And Simulation

With the country’s economic transformation, advanced equipments are developed rapidly. As one of the advanced equipment, industrial robots are expanded in various industries. In the study of industrial robotics, the robot kinematics is the foundation of robot motion analysis and trajectory planning. The robot trajectory planning has important theoretical and practical value on the basis of the robot kinematics.In this thesis, the development trend of industry robot technology is analyzed. The industry robot STAUBLI-TX90with six degrees of freedom is put as the research object. The kinematics model of the robot is built. Base on the model the industrial robot trajectory planning algorithm is studied and the simulation experiment is carried out. The main work and achievements are as follows:Firstly, the forward and inverse kinematics of the industrial robot is studied. According to the actual parameters of the STAUBLI-TX90the kinematics model is established. On the basis of the model the simulation experiments for the algorithm in this thesis are performed by used of robot toolbox in Matlab.Secondly, the robot linear and circular interpolation theories are studied. The circular interpolation algorithm is improved. The simulations of the algorithms are conducted on the robot model.Thirdly, the theory of NURBS (Non-Uniform Rational B-Splines) curve is studied and applied to the robot trajectory interpolation. On the basis of predecessors’ work the NURBS curve interpolation algorithm is improved. Then the simulation of the improved algorithm was carried out.Fourthly, in the experimental platform of STAUBLI-TX90, the linear, circular and NURBS curve interpolation algorithms were experimented by the software of MasterCAM and Robotmaster.Finally, the work of this thesis is summarized, and some contents need to be improved are put forward.