Research On Trajectory Planning Algorithm And Simulation Of Six-Dof Industrial Robots

As a fundamental automation equipment,industrial robot has been widely utilized in modern manufacturing due to the development of automatic control and manufacturing technology.What's more,the trajectory of the robot is required to be more accurate and smooth to reduce the damage to robots.In this paper,the trajectory planning algorithm and program realization of industrial robot under the condition of smoothness constraint is addressed to work on.The main research works are listed as follows:First,the D-H model of the robot was established and the kinematics and dynamics were researched,based on which the kinematics and dynamics equations of the robot were solved.In addition,the inverse solutions were programmed based on Matlab platform according to the inverse kinematics equations of robot.And the kinematics and dynamics simulation of the robot were performed on the basis of positive kinematics and dynamics provided by Robotics Toolbox.Second,the trajectory planning of robot in joint space and Cartesian space were researched respectively,along with the accomplishment of the smoothness of trajectory planning.By the combination of function package of Robotics Toolbox and trajectory planning algorithm written above,a robot motion simulation system was designed with the help of graphics user interface design tool of MATLAB software.The system was then used to simulate and analyze the joint space and trajectory planning of the designed robot.At last,an iterative algorithm with multiple constraints which had the ability to meet the requirements of speed and acceleration of robot in Cartesian space and joint space,was proposed based on the traditional joint space trajectory planning and Cartesian space trajectory planning technology.The iterative algorithm could help the robot move as fast as possible during each movement cycle with its end effector meeting multiple constraints in Cartesian space,for instance,path constraints,velocity constraints,acceleration constraints and joint velocity and acceleration constraints.The simulation and analysis of this algorithm were performed on Matlab platform,and the results proved that the trajectory planning smoothness of robot under multiple constraints were perfectly achieved by this algorithm,along with motion time optimization.