Industrial Robot Trajectory Planning And Simulation Analysis Based On The Normal Distribution Function

Since entering the 21 st century,a new round of industrial revolution taking intelligent manufacturing as the core is happening Developed countries also will put the manufacturing industry upgrade as a top priority of industrial reform.And the industrial robot,as the core tec hnology of intelligent manufacturing,which has become an important standard to measure manufacturing industry level in a country.Since the German government put forward “Industry 4.0” and after the United states pushed out reindustrialization,Prime mini ster Li keqiang first proposed a big plan “made in China 2025”on government work report on March 5th,2015.The goal is to improve the international competitiveness of China manufacturing industry and take the preemptive opportunities in the new round of i ndustrial revolution.After more than half a century of development,the human has achieved a certain breakthrough in industrial robots core technology and industrial robot technology also became more mature,but the problem of industrial robot motion cont rol and planning has influenced the development of robot technology.For industrial robot,if it wants to complete the corresponding work tasks,motion control and planning is a must,and it has given industrial robots systematic work styles and movement e fficiency.Therefore,motion control and planning is the key technology of research and development of industrial robots.Industrial robot motion control and planning contains two parts,one is trajectory planning,another is path tracking,and trajectory planning is also a long standing issue in the study of motion control and planning.The advantages and disadvantages of industrial robot trajectory planning largely depends on the selection of joint space motion interpolation equation and motion interpolation equation represents robots' movement cost from the initial position to the end position.this topic chooses PUMA560 as the research object,and make a detailed research on the nature of joint space motion interpolation equation in process of the point-to-point(PT P)for industrial robot.Firstly,this text starts with mathematical foundation of industrial robot trajectory planning,which introduces the expressive methods of industrial robot special position,industrial robot D-H parameters mathematical modeling method and general method of joint space trajectory planning.Secondly,this text puts forward a new style of joint space interpolation function,named error function(the indefinite integral of normal distribution function),which is based on the research of the general joint space interpolation for robot angular displacement function in joint space can make robots' angular velocity presenting normal distribution in the process of movement,thus significantly reducing the acceleration and deceleration time for industrial robot movement between two points in space,and on the basis of satisfying the requirements of robot kinematics and dynamics,it also can improve the movement efficiency of robots.Then,it makes a parameter design of the new interp olation function,a parameter design for normal distribution function based on the principles of “3 sigma”,and gets angular displacement interpolation function(error function)by its indefinite integral then revises error function and get its general for m.Finally,using MAT LAB and ADAMS software joint simulation to respectively simulate the high polynomial interpolation method and the normal distribution function interpolation method,to analyze and contrast the influence of the simulation results show that,when it move between any two points in space,using the normal distribution function.interpolation method in joint space can improve the efficiency of robots' movement more than higher-degree polynomial interpolation method.