Kinematics Analysis And Control Technology Research Of The Six DOF Industrial Robot

The robot is a typical electromechanical integration equipment which haspenetrated into kinds of aspects of people’s lives. With the development in a broaderdirection of industrial robots and the improvement of the Intelligent level of robots,the applications of the robot is still expanding. The technology of robot product whichplays a more and more important role on the future production and socialdevelopment is of high additional value and wide application. Therefore, It is of greatsignificance to do the kinematic analysis and control algorithms research for the6DOF industrial robots in this article.The solving of positive or inverse kinematics is the foundation of the trajectoryplanning of robots. The solving of positive or inverse kinematics is the foundation ofthe trajectory planning of robots. The standard D-H method is adopted to analyze themechanism and kinematics of6DOF joints robots in this article. Then the formulas ofpositive and inverse kinematic transformations are deduced to solve the controlproblems of robots and do further research on the dynamic problems of robots. Thetrajectory planning is analyzed in this article. The cubic polynomial interpolation andthe linear and higher-order polynomial interpolation with the parabolic transition arediscussed in the trajectory planning of the joint space. The linear interpolationalgorithm and the circular interpolation algorithm are discussed in the trajectoryplanning of the Cartesian space. It establishes a theoretical basis for the kinematicssimulation analysis of robots to compare the advantage and disadvantage of trajectoryplanning in Cartesian space and joint space.The robot kit in Matlab is applied to conduct the kinematic simulation for the robotsystem on this basis. It could intuitively reflect the kinematic state of each memberand the end implement of the nonlinear coupling structure like robots throughresearching the changes of main kinematic indicators during the operation process ofthe robots which would provide the theoretical basis for the concrete development andcontrol strategy of the robots. The dynamic modeling of Multi-DOF robot is oftenvery complex for the uncertain factors such as disturbance, error, etc while modelingfor the robot. Therefore, there are still many problems to solve to realize the highspeed and high precision control. A fuzzy adaptive sliding mode control algorithmwhich adopted the fuzzy logic system and combined with the ability to adjust the unknown parameters in adaptive algorithm for the high frequency chatteringphenomenon on the basis of sliding mode control algorithm, and realized the adaptiveadjustment of the gains in the sliding mode control system which could eliminatethe high frequency chattering phenomenon in the system to achieve the stabilizationand high precision of the system.