Trajectory Planning Research And Mulation Of Industrial Robot With Six Degree Of Freedom

With the industrial robot playing a more and more important role in the modernindustrial production, people demand more and more of it, not only hope industrialrobot can accurately complete the task, also want to as far as possible to improve thework efficiency, reducing production cost. From the perspective of the running time,taking time as the optimization index, this paper researches time-optimal trajectoryplanning of industrial robot, in order to improve the work efficiency of industrialrobot in practical application in industrial production.Firstly, this paper briefly introduces the definition and characteristics of industrialrobot of six degrees of freedom, and discusses the status quo of the industrial robotand its trajectory planning of the development at home and abroad. And then thispaper also elaborates on the basic knowledge of the robot kinematics in the forwardand inverse problems and the construction of kinematics model of industrial robot sixdegree of freedom based on D-H parameter method.Secondly, this paper analyzes in detail the basic principle of trajectory planning.Injoint coordinates space, trajectory planning according to the different constraintconditions are specified linear interpolation function of cubic trajectories、high-orderpolynomial trajectories and linear trajectories which is joined by the Parabola; InCartesian coordinates space,trajectory planning of the linear interpolation and circularinterpolation are respectively introduced. Then the function principle of B splinetrajectory planning and the process of derivation function formula are intensiveresearched.Finally, this paper discusses the optimization principle of genetic algorithm andthe establishment of numerical optimization mathematical model of inversekinematics problem which improved the accuracy of inverse kinematics solution.Onthe other hand, Combined with the B spline curve segment handling characteristic,taked the time as the optimization objective, this paper designs an optimizationmethod based on genetic algorithm. Using the Matlab simulation software, the inversekinematics and trajectory planning algorithm are simulated respectively. Thesimulation results show that the error of the kinematics inverse solution based ongenetic algorithm is smaller, and the precision is improved, thus improving the precision and validating the proposed algorithm effectively. Trajectory simulationresults show that each joint of industrial robot in the process of movement ensures thetrajectory curve continuous and smooth and shortens the running time, which verifiesthe correctness of the algorithm.