Research On Grasping Design And Trajectory Control Of Handling Robot

Industrial robots is a nonlinear system with multiple inputs and multiple outputs, with the upgrading of the technical requirements of the robot’s accuracy, efficiency, and other end steady performance requirements are also gradually increased. The issue for the aviation aircraft hatch assembly automation transformation, designed to cover the completion of the task of handling and transporting the end effector, and robot trajectory planning and trajectory tracking control algorithm is studied.Firstly, according to the characteristics of the shape of the hatch and crawled work requirements, a gripper which is driven by a stepping motor and screw was designed. The gripper by grabbing pre-installed on the cover of the auxiliary rib to complete the task crawl hatch. According to the calculated value of the screw driving torque, select the right motor model. Second, select IRB6640 as the manipulator, using D-H method to establish a link coordinate system robot and find the forward kinematics results. By using the inverse transform method to calculate the kinematics inverse solution, the validity of the kinematics model is verified by Robotics Toolbox. Using Lagrange method to establish the dynamics model of the manipulator, the results of Adams simulation compared with the results of the Matlab to verifies the correctness of the dynamic model. Kinematics and dynamics analysis is the basis of studying the algorithm of trajectory planning and control. Then based on the kinematics model of the manipulator trajectory planning in joint space. On the basis of B-spline curves proposed 3rd and 5th B-spline curve combined into a 5-3-5 trajectory planning method, to ensure the smooth trajectory of the manipulator. The genetic algorithm is used for the optimal time of trajectory optimization, improve the working efficiency. Finally, based on dynamics model of the manipulator, analyzed the manipulator trajectory tracking based on RBF neural network adaptive control method. The simulation results show that the algorithm has high control accuracy, to verify the correctness and validity of the algorithm.