Research On Trajectory Planning And Simulation Of 6-DOF Industrial Robot

With the continuous improvement of modern industrial production automation,domestic and international pay more and more attention to the development of robot technology.In this paper,the kinematics,trajectory planning and motion simulation of the robot with REBOT V-6R six degrees of freedom are studied.The main contents are as follows:Firstly,study on the six degrees of freedom robot kinematics.Based on the D-H method,the mathematical model of the six degree of freedom robot was established,and the analytical formula of the kinematics positive and inverse solution was obtained,and the mathematical foundation was laid for the study of the six degree of freedom robot trajectory planning and motion simulation.Secondly,the trajectory of the six degree of freedom robot is planned.In order to improve the precision of trajectory planning,reduce the vibration and shock in the process of robot movement,Planning the rectangle path.The trajectory of the robot was planned by three times of polynomial and cubic B spline and cubic NURBS,five times of polynomials and B splines.The planning results show that the cubic NURBS planning the trajectory of angular displacement,angular velocity and angular acceleration is smooth,continuous without mutation,robot trajectory precision is better,planning property is better than three times of polynomial and cubic B spline;The angular displacement,angular velocity,and angular acceleration of the five times of polynomial program are better than those of three times of polynomial;The angular displacement,angular velocity and angular acceleration of the five-time B spline,and the planning performance is better than that of cubic B spline.Thirdly,the motion simulation of the six degree of freedom robot is carried out.Using MATLAB GUI tools to build a six degree of freedom robot simulation platform.Six degrees of freedom robot 3d model through the three-dimensional entity in a MATLAB function was established,in addition to write the joint control module,trajectory planning module,animation simulation module,trajectory planning module of rectangular,circular,sinusoidal track trajectory can be separately in the above five kinds of planning method of path planning.The animation simulation module can simulate the rectangle,the circle and the sinusoid separately,which provides a reliable basis for the study of the kinematics simulation of the six degrees of freedom robot.Fourthly,the control platform of six degree freedom industrial robot is established by Visual Studio 2015.To make the end of the robot hand grasp planning a rectangular path,using DMC controller entity let the laboratory robot to conduct motion control and simulation,and through the control platform to operate the robot entity test and verify the reliability of planning.