Research On Trajectory Planning Of 6-DOF Manipulator Based On Energy Consumption Management

Made in China 2025 and Industry 4.0 requires a large number of industrial robots,but the use of large quantities of industrial robots is particularly energy intensive,and China is the country with the largest number of robotic arms in the world.At present,the global environmental problems are outstanding.At the same time,China has vigorously promoted energy conservation and emission reduction,and it is required to reduce energy consumption and strengthen environmental protection while developing the economy.Therefore,reducing the energy consumption of the robot arm during operation is an important issue that needs to be solved.This paper takes AIR6 A six-degree-of-freedom serial manipulator as research object,carries out trajectory planning on the basis of robot kinematics and dynamics modeling,and compares the effects of different optimization methods on reducing energy consumption.The main research work and achievements of this paper are as follows:Firstly,analyzed the theoretical basis of kinematics and dynamics and a standard D-H model was established,then deduced the link transformation matrix of the manipulator and solution method of the inverse kinematics.According to the homogeneous transformation matrix of the manipulator,a dynamic model was established using the Lagrange kinetics equation,and got the dynamic constraints of the manipulator.We use the cubic non-uniform B-spline function to interpolate the discrete path points to obtain continuous joint trajectories which the starting point and end point are coincident,and the joint angle,angular velocity and angular acceleration constraints are solved.Then,take into account the kinetic energy of the manipulator during the exercise process.The model was expressed as a function of time,and the energy optimization problem was converted into getting a set of time-interval sequences that satisfy the optimal energy consumption.The PSO algorithm,genetic algorithm and GPSO algorithm were used to optimize the energy consumption.Optimized trajectorieswere compared with the one with fixed time intervals,and then compared the optimized trajectories with each other to detect more about their advantages and disadvantages.Finally,create a virtual prototype of an AIR6 A robot in ADAMS.Simulate the trajectories optimized by GPSO and PSO separately and analyze the torque,velocity,and acceleration of the two motion trajectories.The simulation and analysis showed that each joint speed and moment met the requirements,and the acceleration of each joint was also continuous.The simulation results showed that the GPSO algorithm is the optimal energy consumption trajectory planning scheme.