Research On SCARA-Type Industrial Robot Trajectory Planning

With the industrial production in the direction of "mechanical automation",the working performance of industrial robots has also been paid more and more attention.The trajectory planning has a very important influence on the working performance of industrial robots as the basic part of robot research.This paper starts from the research of industrial robot trajectory planning,and optimizes the performance of industrial robots.In this paper,the SCARA-Type(Selective Compliance Assembly Robot Arm,SCARA)robot is used to study the trajectory planning problem from Cartesian space trajectory planning and joint space trajectory planning.In this paper,the kinematics,inverse kinematics,Lagrangian dynamics equations of the robot are studied,and the kinematics and dynamics of the SCARA robot are modeled.Robotics Toolbox is used to simulate the MATLAB model and verify the accuracy of the kinematic model,Which provides the basis for the follow-up trajectory planning study.In this paper,some methods of Cartesian space and joint space trajectory planning are studied.For the trajectory planning of Cartesian space,the methods of first order acceleration planning,trigonometric function velocity planning and trapezoidal velocity planning are introduced.The traditional circular transition interpolation method is improved and simulated,which makes the transition area more smooth and accurate,In this paper,the cubic B-spline method of Cartesian spatial trajectory interpolation is simulated.In the joint space,the fifth-order polynomial trajectory interpolation method is analyzed.For the joint space planning optimization,the trajectory planning algorithm uses the 4-5 order polynomial trajectory planning algorithm,and the genetic algorithm is optimized to optimize the target with energy consumption as the optimization target.Finally,we use MATLAB to customize the Graphical User Interface(GUI)of spatial trajectory optimization.Aiming at the optimization of Cartesian space trajectory,the algorithm of circular interpolation and first order acceleration motion planning of modified rows is adopted.Non-dominated Sorting Differential Evolution(NSDE)is used in two aspects: time consuming and energy consumption.The multi-objective optimization is realized,and the non-dominated solution set of Pareto is obtained,and the optimal solution is selected to finally optimize the trajectory of the end space.