Research On Trajectory Planning Algorithm Of 6-DOF Industrial Robot

With the continuous improvement of the automation degree of modern industrial production,industrial robots are used more and more widely in all walks of life.In this paper,the REBOT-V-6R-650 6-DOF robot as the research object,its kinematics and trajectory are analyzed and simulated.The main research contents are as follows:Firstly,the mathematical model of 6-DOF robot is established by D-H method,and the analytical formula of the positive and inverse solutions are obtained,the mathematical foundation of the study of the path trajectory of the 6-DOF robot is established.Secondly,the trajectory of the 6-DOF robot is planned.In order to reduce the vibration and shock in the movement of robot,extend the service life,and improve the accuracy of trajectory planning,to solve the problem of trajectory inaccurate based on quintic polynomial caused by the curve of jerk occurs some breaking points,this thesis is concerning with trajectory planning study based on 6-DOF industrial robot by means of quintic and septuple non-uniform B-spline.The simulation results show that the proposed method could achieve smoother velocity and precision,the continuity of jerk is well.Kinematics performance is better than quintic polynomial.Thirdly,the path of the 6-DOF robot is optimized,and the welding path of a car door is analyzed as an example.The improved particle swarm optimization algorithm is used to optimize the welding path.In order to keep the algorithm good convergence and improve the convergence speed,the particle is re-generated by means of the greedy recombination of the individual extreme value following global extreme value and random original reference value;in order to keep the population diversity and prevent the local minimum,a multi-bit adjustment order strategy is introduced,the partial arrangement of particles is randomly adjusted.The simulation results show that the optimized path is better than the path before optimization.Fourthly,a 6-DOF robot simulation platform is built based on the MATLAB platform.The 3D model of 6-DOF robot is established by the function of MATLAB,the basic motion control module,teaching module and function control module are established to provided a simulation platform for the analysis and research of the motion path of the 6-DOF robot.Fifthly,the obstacle avoidance path of the robot is studied in C space and Cartesian space respectively.In C space,the obstacle avoidance model is established,and the optimal path is searched through the improved genetic algorithm in the grid space.In Cartesian space,the collision detection module of the robot arm is built.The trajectory of the six joints is planned by six non-uniform B spline respectively,and the improved genetic algorithm is adopted to optimize the parameters of the non uniform B spline,and the better obstacle avoidance planning solution is obtained,and the analysis and verification are performed on the simulation platform and the robot entity.