Research On The Optimal Trajectory Planning Of Industrial Robot

With the development of computer technology and artificial intelligence, people's demand for robot is not only to complete the assigned tasks, but also guarantee the quality of work as much as possible on the basis of improving work efficiency and reduce the error in the actual operation requirements. so that in robot trajectory planning, the optimal, accuracy and stability of has become the hot point of the robotics research.First of all, in this dissertation, the background of research significance, and current development situation of industrial robot trajectory planning research are introduced; The research object is a six degrees of freedom of PUMA560 robot industry. Firstly,introduced the description of robot related position, establish the kinematics model of the robot according to the d-h method to, analyzes the established kinematic equation, established the mathematical model of PUMA560 robot, and its positive and inverse kinematics formula are given, which offers guarantee for the continuity of below involved algorithm.Secondly, this dissertation outlined in both joint space and Cartesian space, industrial robot to implement the basic principle of trajectory planning, analyzes the polynomial function interpolation and the interpolation algorithm in the planning of the trajectory planning method,and implements the real-time trajectory in joint space and Cartesian space generated; This dissertation introduces the basic concept of B-Spline curve and cubic B-Spline curve and cubic non-uniform B-Spline(NURBS) curve of trajectory planning problems.Finally, both genetic algorithm and NURBS(Non Uniform Rational B- Spline) interpolation algorithm in the joint space and Cartesian space trajectory planning problem were researched.,specific include two parts: based on the three Uniform B-Spline industrial robot trajectory planning of genetic algorithm, and applies three Uniform B Spline curve of genetic algorithm optimization algorithm of the robot, and in the joint space of genetic algorithm based on the cubic B Spline curve trajectory planning and research of global optimization, Industrial robot based on NURBS interpolation algorithm in Cartesian space trajectory planning problems of study, using NURBS interpolation algorithm, the robot end track speed continuous smooth and successive acceleration, improve the robot's speed and reduce the vibration of a robot manipulator joints and wear.This dissertation use Robotics Toolbox in MATLAB to build a simulation model of PUMA560 robot trajectory planning algorithm for the research program, and run the program of the algorithm in the data path planning simulation on MATLAB platform.The feasibility of global optimization of genetic algorithm based on three B spline curves in joint space is realized,and the time efficiency of trajectory is optimized. Through the NURBS curve interpolation algorithm, the robot's end trajectory is smooth and continuous, and the acceleration of the robot is improved, and the robot's running speed and the vibration and joint wear are reduced.