Research And Realization On Trajectory Planning Algorithm Of 6R Industrial Robot

Intelligent manufacturing and advanced factories have attracted more and more attention from all countries.Robots,especially industrial robots,are becoming the basic equipment and become an important part of advanced manufacturing equipment technology.Robot control system as a core component of the robot system,its merits and demerits directly affect the overall performance of industrial robots.Robot control system is divided into two major parts: software systems and hardware devices.The hardware is equivalent to the brain,and the software system is the brain's thinking.Therefore,in order to improve the performance of the robot control system,we must consider the software core algorithm and hardware structure.The main research in this paper is as follows:(1)The structural characteristics of industrial robot with six degrees of freedom were discussed.The joint parameters and D-H coordinate system satisfying the pieper criterion were determined.Based on the homogeneous transformation matrix theory between adjacent rigid bodies,the end homogeneous transformation matrix of the robot was established.On this basis,the position and attitude matrixes of robot end under Cartesian space are deduced,and then the algorithm of positive and inverse solution of robot kinematics is derived.(2)The robot trajectory planning algorithm is described respectively from Cartesian space and joint space.In order to enable the robot control system to perform basic motion control,a brief analysis of linear interpolation and circular interpolation is carried out in Cartesian space.Due to the singularities in Cartesian space,which lead to the non-closed solution,the paper mainly deduces the algorithm and optimization of B-spline trajectory planning from the perspective of joint space,and analyzes the actual effect after optimization in MATLAB.(3)Considering the actual working conditions of the robot,the optimal requirements of efficiency,energy consumption and impact are expressed in the form of mathematical functions to build a multi-objective mathematical model of the robot.The established NSGA-II multi-objective optimization algorithm is used to solve the problem Mathematical models provides a solution to the growing robotics requirements.(4)Design the experimental platform of this paper.Based on the control system structure of "PC + motion controller",the open robot control system is designed based on Windows and PMAC controllers.The use of C/C+ + language,the use of modular development of the control system PC software to meet the basic motion control.Finally,in this experimental platform,verify the trajectory planning algorithm in this paper.Experiments show that the hybrid interpolation algorithm of trajectory planning has the correctness and feasibility.