Research On Path Planning And Optimization Control Technology Of Coke Pouring Robots

With the development of robot technology, more and more areas we can see the shadow of the robot. As high pollution, high emissions of coke industry, if will also be able to use robots in among them, this will bring the workers' working environment greatly improved.China is a big country of coke production. However, as China's iron and steel industry leader in advanced manufacturing technology, Baosteel is facing the following problems:(1).Labor costs increased year by year.(2).Pressure of artificial operation in harsh working conditions.(3).The application level of the robot in the production line of Baosteel is obviously lower than the international average level(4).Baosteel Metallurgical coking industry scale in about 4.5 million tons / year, but the operation of the furnace is still all using manual work.With the deepening of the research on robot in recent years,the application of industrial robots is no longer limited to manufacturing.As some special industries, such as mining,rescue and hydropower system maintenance and other non-manufacturing has also introduced robots.However,there is no precedent for the application of the robot in front of furnace.Under such background, it is very important to develop a robot that can replace the manual work.The research content of this article is in this context.Aiming at the path planning problem of coke pouring robots, the kinematics analysis of robot arm is introduced, including the D-H modeling, forward kinematics analysis, inverse kinematics analysis and so on.Then introduced the robot trajectory planning method,including the three polynomial interpolation method and the five degree polynomial interpolation method.And these two methods are used to simulate the trajectory of coke pouring robots.Then,according to the path trajectory of coke pouring robots, we carry on the teaching programming,including tool coordinates and coordinates determination.Then, KUKA SIM PRO was used to simulate the trajectory of the coke.Finally,this paper discussed the remote control of coke pouring robot which software based on c# .In this paper, the innovation points and research results mainly reflects in the following:(1) This paper respectively obtained the path of coke pouring robots with the three polynomial interpolation method and the five degree polynomial interpolation method.By comparing these two simulation results,it shows that the five polynomial interpolation superiority has obvious advantage for the stable operation of coke pouring robots.(2)With KUKA SIM PRO, the path of fifth degree polynomial is simulated. The simulation results show that the path which obtained by five degree polynomial interpolation method can meet the basic requirements of coke pouring.As the first intelligent robot project of pre furnace operation,the research and development of the coke pouring robot can make workers free from the bad working environment, which greatly improves the automation level of the pre furnace operation, and has important economic value and social value.