Research On Trajectory Tracking Control Of Industrial Robot With Six Degree Of Freedom

With the continuous progress of social development,increase in labor costs,changes in the work environment,and diversified market competition,companies face a lot of pressure.The manufacturing industry generally needs upgrading of technology and equipment to enhance competitiveness and improve economic efficiency.As an important equipment and means in advanced manufacturing industry,industrial robots have great room for development.The widespread adoption of industrial robots can not only improve the quality and production of the products,but also have a very important significance in protecting personal safety,reducing labor intensity,increasing labor productivity,saving raw material consumption and reducing production costs.This article combines the patent transformation promotion project of Jilin Provincial Science and Technology Department “Industrial robot intelligent key technology research team patent demonstration training”.Based on extensive research on the status quo of domestic and foreign industrial robots,SolidWorks is used to establish a three-dimensional model of an industrial robot.Based on this model,a mathematical model is established to perform kinematics analysis,trajectory planning,MATLAB and ADAMS simulation for industrial robots.Research on control algorithms and control system design,systematic design analysis and control of industrial robots.The main research contents of this article are as follows:Firstly,the three-dimensional model of industrial robot is established using SolidWorks software,the various parts of the industrial robot are introduced,the appropriate materials,servomotors and reducers are selected for the industrial robot,and then the D-H space linkage coordinates are established on the basis of the industrial robot model.Department,carries on the positive and inverse kinematics analysis to the industrial robot,uses MATLAB to carry on the forward and reverse kinematics simulation to the industrial robot.Secondly,given the starting point and target point of the end motion of the industrial robot,the smooth trajectory curve equations of each joint are calculated by the cubic interpolation polynomial algorithm and the fifth-order interpolation polynomial algorithm respectively.Then,the robot ADAMS is used to perform the mechanical robot dynamics analysis software.The simulation of trajectory planning verifies that the simulation curves of each joint of the industrial robot under the cubic polynomial trajectory planning and the fifth polynomial trajectory planning are obtained,and the motion curve of the industrial robot is compared and analyzed.Finally,research on the control algorithm of industrial robots and research and design of industrial robot control system.The advantages and applicability of the iterative learning control algorithm are described.The iterative learning control algorithm is used to control and verify the industrial robot.The simulation results show that the iterative learning control algorithm can greatly reduce the error in the process of industrial robots and basically meet the control requirements of industrial robots.It is determined that the STM32F429 embedded microprocessor is the core industrial robot control system,and then the joint 1 servo control of the industrial robot is taken as an example to introduce the connection method between the servo motor driver and the controller.Finally,the software design ideas of the industrial robot control system are outlined,and the program control flow chart is given.