The Research Of 6DOF Robot Trajectory Planning And Control Algorithm

In the increasingly modern industrial manufacturing field,the industrial robots have increasing demands.The research in trajectory planning and trajectory tracking control algorithms is one of the core research fields of industrial robots,which can provide technical support for industrial robots' smooth running and high-efficiency work.In this thesis,the GRB4016 model for 6-DOF robot is used as a blueprint.The mathematical modeling,trajectory planning,control algorithm,virtual prototyping and co-simulation of the 6-DOF industrial robot are explored in order to provide technical reference for robot trajectory planning and trajectory tracking control algorithm in engineering application.Finally,it can achieve the purpose on the cost savings,improving research and development efficiency.The work and achievements of this thesis are as follows:1)Mathematical modeling of a 6-DOF industrial robotThe mathematical model of the GRB4016 model for 6-DOF robot is set up.Firstly,some mathematical knowledge of robot manipulator's modeling is discussed,such as pose description and coordinate transformation.Then,the GRB4016 6-DOF robot is modeled based on the standard D-H model and the modified D-H model.Finally,the robot's kinematics model is established and solved by using the conversation of coordinates.2)Trajectory planning of a 6-DOF industrial robotA trajectory planning scheme of quintic non-uniform B-spline based on PSO algorithm is proposed.Firstly,the quintic non-uniform B-spline interpolation method is used to realize the trajectory planning of joint space.Compared with the high-order polynomial interpolation method,this interpolation method has the advantages of convexity and locally support.Then,the PSO algorithm is used to optimize the time-pulsation of the planned trajectory.The results show that the quintic non-uniform B-spline trajectory planning based on the PSO algorithm can get the trajectory with better time-pulsation,and realize the expected goal of high efficiency and good stationarity of 6-DOF robot.Finally,the robot trajectory planning under different engineering scenarios is realized by using the proposed scheme in combination with the background of three kinds of workpieces' transportation,and then the validity of the proposed method is verified.3)Trajectory tracking control algorithm and co-simulation of a 6-DOF industrial robotThe optimal trajectory obtained by trajectory planning is taken as the expected input of trajectory tracking control system,and the corresponding PID control and fuzzy PID control strategies are designed.Firstly,the virtual prototyping of the GRB4016 model for robot is designed to provide the controlled object for the control system,and the simulation platform of SolidWorks/SimMechanics is set up.Then,in order to verify the validity of the proposed method,the tracking control simulation experiment of the 6-DOF industrial robot is carried out on the simulation platform.The simulation results show that the proposed trajectory tracking control algorithm is effective and achieves the expected target.