Trajectory Planning Algorithm And Simulation Of A 6R Industril Robot

With the development of science and technology,industrial robots has been more widely used in industrial production.During the practical application of industrial robots in the implementation of an action task,due to some objective constraints,often there will be some constraints,such as the movement in accordance with the specified path,which requires the industrial robot trajectory planning,and trajectory planning a direct impact on the quality of the industrial robot operation,therefore,the industrial robot trajectory planning study has important theoretical and practical significance.In this paper,6-DOF industrial robot ER3-C60 as a carrier,through theoretical and experimental combination,the system in-depth study of the structural parameters modeling 6-DOF industrial robot series,is inverse kinematics algorithm,trajectory planning process and Neural network adaptive control algorithm to improve the accuracy of the industrial robot provides the basis.The establishment of a 6-DOF motion DH model of industrial robots,the motion of the structure is derived under the forward and inverse solution of the equation.Analysis of issues related to industrial robot trajectory planning,introduces two kinds of joint space and Cartesian space trajectory planning method.Based on VC ++ for industrial robots being inverse kinematics algorithm simulation program,and forward and inverse solution of the equation is verified.Based on MATLAB neural network adaptive control algorithm simulation program,the feasibility of the control algorithm.Finally,the industrial robot PC control software program has been designed,focusing on the design and implementation of industrial robot controller and planner program.And on the experimental platform ER3-C60 industrial robot research conducted trials to test the designed trajectory planning programs to better meet the control requirements.