Study On The Trajectory Planning And Control Methods Of 6-DOF Industrial Robot

With the widely application of the industrial robot, the stand or fall of its performance has important significance for the development of the industry. The hereinafter study was done in this paper to deal with six degrees of freedom in Kawasaki FS20 N industrial robot.In order to realize the trajectory tracking of Kawasaki FS20 N, in the first place, this paper study on kinematics, this involved the generalized connecting rod and the transform matrix, etc. It analyses and solves the kinematics and inverse kinematics of Kawasaki FS20 N, when the connecting rod coordinate systems were established. It sets up the model of FS20 N by using the toolbox of MATLAB Robotics Toolbox, for observing the changes of robot movements clearly.On the basis of kinematics analysis was carried out on the FS20 N, kinematics and inverse kinematics simulation is runed respectively. The results of simulation show the relationship between the pose of the robot terminal units and each joint variable, it provides the reference for trajectory planning and control algorithm of FS20 N robot.The robot trajectory planning mainly runs in joint space and Cartesian space. After analyzing various interpolation method, it intuitive compares the cubic polynomial and quintic polynomial though the simulation figures, the results show that quintic polynomial can let the curve more steady、smooth、continuous and improve the stability of the robot system。Finally the paper carries on the research of robot control algorithm. Different from the traditional control, the sliding mode variable structure control can change institutions and parameters of the system purposeful, according to the change of the error signal and its derivative, when the system is running. For the good robustness, the sliding mode variable structure control is suitable for this kind of robot control of nonlinear systems.But because of the chattering will be caused by the sliding mode variable control. And the chattering will affect the precision of control, and may damage the system performance, even make the system unstability, etc. Therefore, fuzzy adaptive algorithm was increased on the sliding mode variable control, and the simulation of MATLAB/Simulink shows that, the fuzzy adaptive sliding mode control can maintain the robustness and weaken the effect of chattering.