Research On Trajectory Planning And Interpolation Algorithm For Industrial Robot

In our country,the industrialization is at a stage of rapid development,the research of robot control technology is of great significance to speed up the process of industrial 4.0 Trajectory planning,as an important part of robot control technology,has become a hot research direction.This article indicated that the relevant control technology in China urgently needs to research and development of industrial robots,the lack of existing methods of trajectory planning operations in response to the robot when cornering will cause shock,impact the precision of the operation.This paper presents segmented trajectory planning ideas,the F3 robot as the research object,by constructing the first robot mathematical model of improved D-H method for robot trajectory;teach arbitrary distribution,selecting three times of non uniform B spline curve fitting operation track robot in Cartesian space,improve the fitting curve precision;based on trajectory curvature extremum of curve segment,using complex integral formula curve length of single section,ensure the precision of calculation.Then introduces two kinds of speed control curve,analyzed the trapezoidal speed curve caused by the acceleration of the impact of mutations,the S curve of speed,speed S shape design planning,planning to curve length and the speed limit as input to calculate interpolation step length.U-L inverse function is constructed to solve the spatial interpolation point position parameter u,which is corresponding to the arbitrary interpolation step size L,and the velocity and acceleration vector of the interpolation point are obtained according to the S velocity expression and the tangent direction of the interpolation point on the curve.Finally,the global standard S shaped speed reducer section planning,planning and pre segmented S shaped speed reducer S shaped velocity planning algorithm for the simulation of F3 robot,through direct comparison contrast and spatial interpolation effect change speed,the acceleration curve,showed that using pre segmented deceleration trajectory planning algorithm can effectively reduce the robot in the end the corner shock,vibration suppression,to ensure the smooth operation of robot.The end effector of a robot in the operation speed and acceleration of the space decomposition,more intuitive comparison of global standard S shaped speed reducer S shaped section pre planning and velocity planning of robot end effector impact and influence,show the true validity of the algorithm.