Research On Motion Planning And Simulation Of 6R Robot

Through the study of the 6R robot motion planning, calibration and simulation, a 6-DOF serial robot kinematics simulation software with online programming function, workspace analysis and offline programming is designed, which using QT technology and OpenGL, OSG graphics simulation technology in the C/C ++ integrated development environment. The software is also a robot PC control software which can be used to realize on-line teaching programming, off-line programming calculation and trajectory planning of 6R robot, including realization of kinematics forward solution and kinematics inverse solution of 6-DOF serial robot, the analysis and processing of robot workspace, robot trajectory simulation and optimization.Subjecting several 6R robots of different structural dimensions to kinematic inverse solutions, a general kinematic inverse algorithm of general size six-degree-of-freedom robot and special size robot based on dual quaternion is proposed. The library functions of the kinematics equations of the six-degree-of-freedom serial robot are written in Mathematica language, which are used to carry out the kinematic forward solution and inverse kinematics analysis. Then, Using the Monte Carlo method to analyze the robot workspace and process the data, a workspace analysis module suitable for trajectory planning is built in the simulation software. At the same time, with studying the trajectory planning method of 6R robot joint space and Cartesian space, the trajectory planning of the 6R robot is done by using cubic polynomial function interpolation method,and the corresponding calculation function is written with Mathematica software. The effectiveness of the calibration and trajectory planning methods is verified by experimental simulations. Using the simulation software to simulate the trajectory of the virtual animation demonstration,visual display of the movement of the various joints and robot state.