Study Of Multi-purpose Industrial Robot Trajectory Planning, Kinematics And Dynamics

It has important significance to research on robotics for our country’s industrialization, Firstly, this article introduces the development situation of domestic and abroad robotics to illustrate the urgent requirements of the research on industry robot technology, and the trajectory planning is an important part of robotics. Piecewise trajectory planning algorithm is proposed by analyzing the advantages and disadvantages of existing methods of through the extreme curvature points. Desired curve is fitted by using cubic Non-uniform B-Spline, the curve is divided into segments according to the maximum curvature. After the length of each curve and velocity limits are calculated, the expression of velocity can be derived. Positions, velocities and accelerations in Cartesian space are obtained by B-spline curve interpolation.Secondly, this thesis regard F3 multi-purpose robot as research object, D-H coordinate systems of the F3 robot is set up. The kinematics equation and its inverse kinematics of F3 robot are obtained. The Jacobian matrix of the F3 robot was presented, and CJC conversion method is proposed to solve the problem of singularity. Then positions, velocities and accelerations series in joint space were obtained by applying inverse kinematics algorithm, and set up robot dynamic equations using iterative Newton-Euler dynamics algorithm.The simulation of kinematics for F3 robot shows that using piecewise trajectory planning algorithm can effectively reduce the Jerk in each joint when through the position of the maximum curvature, vibration can be dampened and the robot moves more smoothly. Finally, the joint torque curves are obtained using iterative Newton-Euler dynamics algorithm.