Research On Industrial Robot Trajectory Planning And Motion Simulation System

With the development of science and technology,our society is now moving towards an intelligent society,"intelligent factory" era will enter the history of manufacturing,and industrial robot is the cornerstone of this smart factory.With the increasing demands on the tasks,deeper study are carried necessarily.In this paper,the NACHI MZ07 industrial robots are studied and simulated both on the kinematics and inverse kinematics,simulation system is built based on LabVIEW as well.The main contents of this paper are as follows:Firstly,it introduces the development history and development status of industrial robots both at home and abroad,then the background and research contents of this paper are discussed,and the research status of robot in the field of kinematics and trajectory planning are summarized.Then,according to the parameters of the MZ07 industrial robot,the space coordinate system of the robot is established.The homogeneous transformation matrix of the joint coordinates between the joints is constructed by using the D-H parameter method,obtaining the kinematic equation of the MZ07 industrial robot finally.In the case of inverse kinematics,given the position parameter of space point,the algebraic analysis method is used to solve the inverse kinematics of the industrial robot,so as to obtain the joint variables in the process of motion.The mathematical model of the robot is established based on the Robotics Toolbox kit provided by MATLAB software,at the same time,the algorithm of kinematics and the inverse kinematics of the robot is experimented and the correctness of the algorithm is verified by the experimental results.Moreover,The problem of trajectory planning for industrial robots is summarized,and the commonly used control algorithms and methods are discussed.In this paper,the trajectory planning interpolation algorithm in joint space is studied mainly,and the commonly used cubic polynomial and quintic polynomial interpolation algorithms are studied and analyzed respectively.The simulation results effectively show both the advantages and disadvantages ofthe two interpolation algorithms.In order to reduce the acceleration of the joint and the impact force between the joints,a hybrid polynomial interpolation method is proposed and the algorithm is simulated in MATLAB environment.The simulation results show that the algorithm can reduce the acceleration and the impact force effectively.Finally,based on the LabVIEW development environment and the powerful mathematical ability of MATLAB,a simulation system for the kinematics problem of the robot is built.The interpolation algorithm of the trajectory planning is compared and studied with the simulation experiment,and the desired trajectory curve is obtained in the end.