Study On Industrial Robot Of Kinematic Analysis And Control

With the development of manufacturing industry, the application of robot technology is become more common. Besides, as the increase of labor cost and the accelerating of manufacturing automation and intelligent, the research and application of industrial robot is speeded up. The demand quantity of industrial robot is refreshed in Chinese manufacturing industry, especially after the German putting forward the concept of industrial 4.0.Though, in Chinese market, the sales volume of industrial robot has reach to the top of the world, it still couldn’t meet for China manufacturing. Nowadays, the transformation from a large manufacturing country to the manufacturing power is coming true in China. The level of China’s robot technology is lagged far behind by international. The industrial robots which sold in China are mostly imported from Japan and European. Our domestic industrial robot is not mature on many aspects, e.g. running speed, re-orientation accuracy, stability etc. The reason mainly includes two facts: one is the robot ontology design remains to optimization; another is robot control algorithm needs to optimize.This paper studies two key problems about six degrees of freedom of industrial robot that are the lower stability during movement process and the slower interpolation speed. We take the six degrees of freedom of industrial robot ARCMate100 of FANUC Company as object of study, and via studying the theory technology lays the root for practical application and completes the purpose of theoretical guidance application.This paper set up the joint coordinate system of FANUC ARC Mate100 by D-H parameters, and then establish mathematical model and do kinematics analysis. Adopt MATLAB Robotic Toolbox do the simulation of FANUCARC Mate100. Then based on the research of the path planning in Joint space and Cartesian space, the principle and the implementation method of industrial robot path planning in two space was detail introduced, and simulated in MATLAB. In addition, this paper put forward variable step interpolation algorithm on account of existing interpolation algorithm, and the interpolation operation was done by MATLAB. Finally, verify the interpolation algorithm through using the control platform made by Googol Company to control the robot of FANUC ARC Mate100.The result of MATLAB motion simulation proved the correct of kinematics analysis of ARC Mate100, and the result of MATLAB path planning simulation shows that the way of path planning is right, which set a foundation for further study. The feasibility of the method of variable step interpolation algorithm has been raised, that is according to the size of the radius of curvature of the free curve segment, and respectively do the interpolation of fixed and variable step, thereby greatly reducing the amount of computation. The result simulated in MATLAB proves it is correct on theory. The feasibility of the method of variable step interpolation algorithm is further testified by using the control platform made by Googol Company to control the robot of FANUC ARC Mate100 finish the movement of the free curve.