| Industrial robots have been widely applied to industrial production, aerospace and other fields. This paper introduces the present situation and tendency of the development of industrial robots in the domestic and overseas. The kinematics and trajectory planning of the 6 degree-of-freedom robot is analyzed with kinematics modeling. The control system of prototype robot is developed with robot programming language.In this paper, the kinematics modeling of the robot is conducted and the forward and inverse kinematics are analyzed with the joint coordinate systems and D-H parameters. The trajectory planning methods in joint space and task space are deduced and simulated. A general robot programming language "Action Language", which can guide a complex task, is designed, including the commands, the compiling by regular expressions and the execution. At last, the physical construction and software of the robot control system are introduced including the functions, user interface and the execution methods. And the control system is simulated in a mashing station. |
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