Research On Six-Axes Industrial Manipulator Control Problem

Since the six-axis industrial robot can work end-effector at any angle in space,it is favored in the industrial field.Therefore,research on the trajectory planning and control of six-axis industrial manipulators has been an evergreen in the industrial field.And because of the different tasks,the planned paths are not the same.In order to eliminate the singularities in the path,optimize the trajectory,and so on,many people propose various methods to meet job requirements.Based on the literature review and theoretical research at home and abroad,this paper proposes a six-axis robot control method based on independent joint control for the control problem of six-axis robot.This paper studies the problem from four aspects: kinematic analysis,trajectory generation,dynamic analysis and control system.First,a six-axis industrial manipulator model is proposed in this paper.Based on this model,the model is subjected to forward and inverse kinematics analysis.Secondly,five kinds of trajectory planning methods are proposed for different types of robot trajectory planning problems.And use matlab to give path simulation.Then,two dynamic modeling methods are introduced,and the dynamics of the model is analyzed by Lagrange function.Finally,based on the different environmental conditions,several motion control methods are proposed.The trajectory planning method proposed in this paper has universality compared to the mainstream trajectory planning method and can basically satisfy any industrial work.The independent joint control method is particularly effective when the controlled joint is independent of other joints.The negative feedback is then used to control the output of the control system(including position,speed,and other information)as the input variable of the system so that the robot's movement can be controlled steadily.