| With the expanding field of industrial robot applications and the rapid development of modern industry,the performance of industrial robot has become increasingly demanding,high-speed,high-precision,intelligent and modular industrial robots become the main trends in the development of industrial robots.This paper introduces the present situation of the development singularity avoidance technique and trajectory planning for vibration suppression of the industrial robots.Analyze kinematics,singularities and effect of jerk on vibration of robot.Robot trajectory planning method is discussed.The kinematics and dynamics simulation of the robot is completed.The overall design and the control system design of the robot are completed.In this paper,the kinematics modeling of the robot is conducted and the forward and inverse kinematics are analyzed with the modified D-H parameters.The Singularities are analyzed by using Robotics Toolbox of MATLAB and a "singularity separation plus damped reciprocal" algorithm is proposed to reduce the influence on the accuracy of the end-effector at or in the vicinity of a singular configuration.The dynamics equation and the vibration equation of the robot are established to analyze the effect of jerk on robot vibration.An evaluation index called joint volatility is proposed and its validity is analyzed.This provides a general reference for the selection of jerk value.The trajectory planning methods are deduced.The kinematics and dynamics of the robot are simulated based on ADAMS virtual console.At last,the overall design of the robot is completed,including the selection of the driving system,the design of the transmission system,the design of the control cabinet,the selection of the motion controller,the selection of the teaching device and the definition of the key function and debugging.The software function of the six degree of freedom robot control are introduced and the robot system is debugged. |
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