Kinematic Simulation And Calibration Algorithm Of 6-DOF Gluing Industrial Robot

This article relies on the technology project of Huangpu District in Guangzhou, doing some research on a 6-DOF industrial gluing robot. The contents include kinematic analysis, trajectory planning in Cartesian space, robot calibration and kinematics simulation of the robot.In this paper, D-H model is employed in the kinematic analysis of 6-DOF gluing robot of type SGR02. The solutions of the forward kinematics is presented, and the working space and flexible working space of the robot are given.In the study of robot trajectory planning, the algorithm should make the end-effector moves in the target path, having the acceleration and velocity continuous and have a proper limit for the maximum acceleration, so that the movement of the end-effector could be smooth and stable. In this paper, a full-cycle sin function is employed in the acceleration planning during the straight lines and circle arcs paths, so that the acceleration could be continuous and the movement during these basic paths could have smooth and stable acceleration/deceleration procedure. Considering the transition paths of these basics paths, quantic Bezier curve is employed. The starting point and ending point of the transition path would be decided by the accuracy level given. Then the controlling points of Bezier curves would be placed depending on different cases to generate the whole paths. After that, a proper limit would be set for the maximum acceleration of the Bezier curves, depending on which, a proper starting and ending velocity of the transition path would be given.In the calibration part, the axis-measuring method and open-loop method were employed in the calibration experiment. With the help of Leica AT901 laser tracker and Spatial Analyzer data analyzing software, the positioning accuracy of the end-effector has improved 91.07%.In the last part of the paper, the kinematic simulation software were built with the help of Visual C++6.0 and Open GL. And some simulation experiment about the trajectory planning algorithm were done.