Research On Control/Simulation Integrated System For Six-DOF Robot With Smooth Trajectory Planning

The application of industrial robots reduces the intensity and dangerous of manual work. The future of the industrial robot market has become more and more vast. So that developing a full functional, stronger performance and more precision robot control system is required. In this paper, the industrial robot control system, simulation teaching system and trajectory planning algorithm has been researched further.Firstly, the Six-DOF industrial robot model based on the D-H method is established. Path planning algorithm based on the industrial robot model can’t wear hardware system and to ensure efficient completion of planned trajectory path to overcome the limit of robot mechanism and workspace. A smooth trajectory planning algorithm is proposed on the premise of the robot mechanical structure and control space constraints. So that path planning algorithm is designed in the one-dimensional space, the speed, acceleration and jerk are constrained to ensure trajectory, acceleration and jerk are limited in a fixed value. Planning objectives can be a journey, joint Angle, arc Angle and so on. In task space, the planning extended one-dimensional to three-dimensional space. This planning ensures the trajectory of end effector running smooth, and reduces mechanical vibration.In this paper, the virtual robot simulation system based on VC++6.0 and OpenGL is designed, which achieved control and simulation integrate system and a three-dimensional robot model in the computer visualization. The human-machine interface is designed through the simulation robot, the kinematics and trajectory planning movement is established through information interaction. The robot control system based on computer and motion controller hardware platform is established. The motion control system based on MTC-620RB motion controller connects the actuator and control the robot. In order to control the target motion of the robot, the control software is designed. Motion controller completes the corresponding trajectory planning task according to the different software requirements. The feedback of the position and posture sends to the computer.Finally, the experiment system of RBT6s robot is established. Integrated system for Six-DOF robot and trajectory planning algorithm can be verified in this experiment system. In this experiment, the simulation system and control system is combined, the integrated system is completed, a smooth trajectory planning in this system is achieved.