Study On Trajectory Planning And Simulation Of 3R Serial Manipulator Based On Time Optimal

As industrial robots are becoming more and more important in modern industrial manufacturing,people have put forward higher requirements for their performance.It not only requires the industrial robot to finish tasks accurately,but also hopes to shorten the movement time and improve work efficiency along the specific path under the premise of ensuring smooth movement.Therefore,in the paper,the shortest operation time of 3R serial manipulator was taken as the optimization index,and the time optimal trajectory planning problem of the manipulator was studied,so as to improve the working efficiency of the manipulator in the actual production process.First of all,the paper introduced the development status of industrial robot technology at home and abroad and the related research results of trajectory planning.Then,the theoretical basis of manipulator kinematics was discussed.Kinematics analysis of the parameterized manipulator model was carried out according to the D-H method,and the kinematics equation of 3R serial manipulator was established.The inverse solution of the kinematic equation was solved by the algebraic method,which laid the foundation for the trajectory planning of the subsequent manipulator.Secondly,the trajectory planning method of manipulator was expounded,and the calculation method and properties of B-spline curve for trajectory planning were deeply studied.Trajectory planning of 3R serial manipulator was carried out in the joint coordinate system space based on B-spline curve.Then the optimization principle of genetic algorithm was introduced,and an optimal time trajectory planning method by genetic algorithm was proposed,which was based on the characteristics of B-spline curve segmentation.In this method,the total time of the manipulator joint along a specific path of motion due to the sum of the time required to go through each section of B-spline curves,with time as the optimization object,and joint angular velocity,angular acceleration and the impact of considering the constraint conditions,the optimization steps were given.The optimal time interval sequence was solved by operation of genetic algorithm optimization procedure,and got the trajectory of each joint of the manipulator by using the optimal solution.Finally,robotics toolbox was used to establish 3R serial manipulator simulation model and simulate the manipulator B-spline curve trajectory planning.The feasibility of thetrajectory planning of the B-spline curve was verified by analyzing the kinematics parameters simulation curve.According to the genetic algorithm,the optimal running trajectory of each joint was obtained.The simulation was verified by MATLAB software.The simulation results showed that the joints of the manipulator were guaranteed.Under the smooth condition of the trajectory curve,the running time of each joint was significantly reduced,thus verifying the effectiveness of the algorithm.