Research On Trajectory Tracking Of Industrarial Robot Based On Orocos

Robot is a complex dynamic system.It is applied in different fields.The most widely used industrial robot is that has six degrees of freedom.The article discussed the six degrees of freedom industrial robot kinematics,trajectory planning,motion simulation problem using ER3A-C60 industrial robots as a carrier,application of open source Ether CAT communication protocol and application of open source Orocos.First of all,this paper introduces the communication methods used by robots.The communication mode used in this graduation project is real-time control bus Ether CAT.The robot in the lab is ER3A-C60,whose motor driver is GTHD series of high-performance servo drive.In the PC side,we can establish the Ether CAT master station,and the servo drive can used as Ether CAT slave station.And then I introduce the kinematics of the robot.It is the basis of trajectory planning.This graduation design introduced the D-H representation based on the mechanical model of ER3A-C60 robot.At last,I get the coordinates of the robot kinematics.Then,in order to make the robot run smooth,the paper makes a study of robot trajectory planning.In this paper,I compare the acceleration and deceleration control algorithms of ladder mode and sinusoidal mode.In task space,the trajectory interpolation method of position and attitude are introduced respectively.In the joint space of path interpolation method with intermediate point interpolation,using linear trajectory planning and trajectory arc trajectory planning idea of combining the robot,so that the movement of the robot is more gentle.In order to make the robot move in strict accordance with the planned path,the inverse kinematics closed loop control algorithm is adopted.In order to better simulation of robot trajectory planning and close loop control,I make six axis robot simulation in the Matlab software with Simulink.Finally,in order to integrate the above into a single software,the overall software framework is designed.The Ether CAT development and application?robot trajectory planning?robot inverse kinematics and kinematics?closed-loop control algorithm are integrated into the Orocos operation system.