Research On Trajectory Planning Method Of Spray Painting Robot

With the increasing use of industrial robots,the manufacturing technology of our country is flourishing,and it is developing towards advanced equipment with higher automation.Trajectory planning,as the research subject of this thesis,is the core part of the control system of spraying robot.In order to make the spraying robot run more smoothly,adaptive control algorithm is used to plan the trajectory of the robot.Firstly,the kinematic modeling of the 6-DOF spray robot is carried out,the linkage transformation matrix based on the DH coordinate system is established,and the positive kinematics and inverse kinematics expressions are deduced.In this paper,the trajectory interpolation algorithm is abstracted into three layers for the design of the traditional trajectory interpolation algorithm,including the path structure layer,the velocity planning layer,the forward speed control layer: In the path construction layer,the robot space path is divided into two parts: the location path and the attitude path.The cubic B-spline curve interpolation is proposed to solve the smooth transition of the position space.The quadratic number is used to solve the robot's attitude The spherical interpolation curve is used to fit the attitude space position trajectory;At the speed planning layer,two adaptive controllable S-type velocity planners were designed based on the high performance S-type velocity control curve;In the forward speed control layer,the velocity planning problem on the frequent acceleration / deceleration path is optimized to solve the problem that the robot joint velocity and acceleration exceed the maximum performance of the movement when the task space trajectory is mapped to the joint space trajectory,thus improving the stability of the robot motion and Accuracy.Finally,the simulation results are simulated in MATLAB environment,and the feasibility and validity of the proposed algorithm are verified.