Research On Quadratic Optimal Trajectory Planning Algorithm For Industrial Robot

With the development of science and technology, the working environment of industrial robots become more and more complex, people’s demand for industrial robot trajectory planning is becoming higher and higher, not only need to complete the point to point(PTP) and simple continuous path(CP) movement, also need to balance the working efficiency of the robot and track smoothness. Therefore, this thesis conducts deep research on industrial robots’ time-optimal and smooth optimization which operates along a specific path, and puts forward the effective quadratic optimal trajectory planning algorithm, and carries on the test with existing robot simulation platform in the laboratory, Finally, the thesis achieves the function of the trajectory of a robot that the time is optimal and the trajectory is smooth and continuous.Firstly, this thesis focuses on the industrial robot trajectory planning method. KUKA KR16-2 robot’s kinematics model and forward and inverse kinematics equation are established by analyzing the industrial robot kinematics. It discusses the cubic polynomial interpolation and parabolic transition linear interpolation in robot joint space, deep studies of the straight line trajectory planning and arc in Cartesian space, and gives a simulation test for the trajectory planning of the straight line and arc.Secondly, this thesis improves the Canonical Genetic Algorithm, uses the segmentation processing characteristics of B-spline approaching the robot joint trajectory, put forward a kind of the time-optimal B-spline trajectory planning algorithm based on Improved Genetic Algorithm. The simulation results show that the proposed algorithm improves the robot working efficiency. Firstly, further research on robot trajectory smoothness based on the time-optimal is needed. Subsequently, we can improve the GA in the generating of initial population and the choice of a new population, and design continuous trajectory of joint jerk with seven B-spline, optimizing time and joint jerk. Then, we put forward quadratic smoothness-optimal trajectory planning algorithm based on time-optimal. The simulation results show that, the robot joint reaches the node for a short time, and each joint trajectory curve is continuous and smooth, thus confirming the validity of the algorithm.Finally, this thesis builds KR16-2 single handing robot and welding robot workstation with existing simulation platform in the laboratory, in the process of the robot motion for time-optimal trajectory planning and smoothness-optimal trajectory planning, it achieves time-optimal and smoothness-optimal for the motion trajectory in the 3D simulation of industrial robot.