The Trajectory Planning And Drive Control Of 6 DOF Serial Manipulator

Since the 21 st century,with the high development of economy and technology,the concept of people's lives have the fundamental change.People want a better work environment.As the global population growth is slowing and entering the aging stage,the lack of labor force become the factors which restrict the future development of the country that cannot be ignored.Therefore,using industrial robots instead of human labor which is a dream for many years is into reality step by step by the national scientific research.Industrial robot as an emerging discipline is regarded as a key subject for research in United States,Japan,northern Europe which has made a series of achievements not only to solve the problem of shortage of labor,but also to improve the quality of the finished product,labor production efficiency,product update cycle and comprehensive competition.The development of industrial robots is even regarded as an industrial revolution.This paper mainly studies the trajectory planning of 6 DOF serial manipulator and drive control.First,we study the traditional kinematics solution and inverse solution algorithm of serial manipulator.On this base we are trajectory planning in joint space,such as four bar linkage,and introduce cubic triangular Bezier spline to interpolation calculation,and analyze the trajectory shape to make the track point automatically generated by programming.When programming to calculate the inverse solution,we put forward a interpolation algorithm based on the displacement at the end of the trajectory.Secondly,we design the control system and program and space trajectory according to the specific task in order to make the actual trajectory fit planning trajectory at the end of the mechanical arm.In the control system,this paper proposes a parallel control algorithm of multiple servo.This algorithm can be extended to 64 road servo precision control when it needs low requirement to the controller and occupys less controller resource.In the end,we simulate the whole process to improve the problems found during the simulation.At the same time,we analyze the reasons of deficiency and possible remedy methods.