Study Of Trajectory Planning Algorithms For 6 DOF Industrial Robot

With the development of technology, industrial robots are widely applied in various aspects for their highly versatile, environmental adaptability, durability and reliability in order to promote the efficiency of industrial production, improve working conditions and environment to achieve a high degree of automation and other industries made an outstanding contribution. Robot trajectory planning will affect the accuracy and stability of the robot, it is a control system of an industrial robot indispensable part, it has been the focus of researchers.The main research content is the path planning of a industrial robot with 6 degree-of-freedom (DOF), PUMA560, trajectory of joint space were investigated and Cartesian space planning problems, specifically includes two parts:Improved differential evolution algorithm based on time-optimal trajectory planning, trajectory planning based on the Cartesian space NURBS (Non-Uniform Rational B-Spline) interpolation algorithm.In order to ensure the continuity of the algorithm, the first of the six degrees of freedom robot research kinematics modeling and gives positive. In this dissertation, it is discussed the general problem of industrial robot trajectory planning, and proposed a new time optimal trajectory planning method of industrial robots in joint space. In the proposed joint space time-optimal trajectory planning method for industrial robots, differential evolution (DE) algorithm is employed, and an improved differential evolution algorithm (MDE approach based) is introduced into the time optimal trajectory planning of the robot to make planning the trajectory can not only ensure joint movement of displacement, velocity and acceleration, and under the condition of the kinematic constraints makes industrial robot hand along the provisions of the shortest path. The simulation results of the industrial robot with 6 DOF show that both algorithms are running well, however the improved differential evolution algorithm is quicker than the traditional differential evolution algorithm at convergence speed, the better the quality of the trajectory planned. Again, in Cartesian space trajectory planning, the robot Cartesian space with the current development trajectory planning on how to keep the motion of the robot end-efector at high speed environment, continuity and viability trajectory planning key technology research, presented NURBS curve interpolation algorithm, making manipulator end track speed continuous smooth and acceleration continuous help to improve the operating speed manipulator and reduce vibration robotic machine body and joint wear. The algorithm is fully derived in every detail. Taking into account the accuracy of the issue, the application of the predictor - corrector method of correction parameters and constraints to constrain the interpolation error chord step. The proposed algorithms are simulated with MATLAB for trajectory planning of PUMA560 robot on the computer, and the effectiveness of the proposed algorithms were verified.Finally, in this dissertation, the proposed trajectory planning algorithms were coded with MATLAB, and simulation study was carried out on the MATLAB platform with the data from the algorithms.