Research On Spiral Trajectory For Industrial Robots Based On Robotics Toolbox

Since Industrial Robot was invented, being a kind of tool it has been used in many fields to make up the shortage of people. With the background of China’s transforming and upgrading of manufacturing, Industrial robot technology should be improved and its new functions should be discovered, in order to adapt to the changing needs in different fields. And this paper is to explore and do some research on spiral interpolation function of Industrial Robot.Firstly, this paper summarizes the common industrial application of Industrial robot and national and international research on trajector y planning and gives the significance to do this research. Secondly, summarizes the main content of robot kinematics in simple way, so as to set up the kinematics model of the robot. Then summarized the common methods for robot path planning, and select the suitable methods for this research. Then uses the robotics toolbox to realize the common robot kinematics arithmetic, and establish the robot kinem atics model and solves inverse kinematics problems for Motoman-up50 by using Robotics Toolbox in MATLBA. The spiral model is built and divided into several parts on average in this paper,then normalization factor is built and used to make linear and circul ar interpolation. After that, error is analyzed and summarized, then gives the idea about how to control the error. Altogether, this paper has explored how to realize the spiral trajectory of the end operator of the industrial robot, which provide algorithm and theory basis for further research and application on spiral trajector y planning.