Research On Analysis And Refine Technology Of Industrial Robot Programming Trajectory

The robot is a non-linear mechanism and its Cartesian space and joint space are not necessarily linked.When end effector line speed is uniform,each joint is likely to perform acceleration and deceleration.Each joint of the robot has a limitation of speed,acceleration and moment.In actual movement,the robot sometimes fails to reach its programmed linear speed,because some joints will exceed their attribute limits.In this paper,through the analysis of the joint trajectory of the programmed trajectory,the trajectory will exceed the limit of the joint before the actual execution of the trajectory.A correction method of the programming speed is proposed and a robot trajectory analysis software is designed and implemented.Its main research content includes:Taking the Huashu HSR-JR605 robot as the research object,the standard DH model was established,the solution of positive and inverse kinematics was achieved.Three robot singularity position and specific avoidance methods were studied.Robot kinematics is the basis for subsequent analysis of the programming trajectory.The trajectory is discretized into small arc segments with constant arc length.The joint angular velocity is calculated using the Jacobian matrix transformation.The joint acceleration is calculated by performing coarse interpolation at the point position,and the moment at the joint is calculated using the Newton-Euler method.In this way,joint kinematics performance analysis is performed on the programmed trajectory.Using the values calculated above and the actual joint's attribute limits,analyze areas that exceed joint limits when running at programmed speed.Under the constraints of joint speed,acceleration,and torque,the maximum linear speed allowed at each point is calculated,and a correction method for inserting a program point and changing the speed in the program is proposed to make the program execute smoothly.Based on the above research,under the Visual C++ development environment,a robot trajectory analysis software is implemented using MFC tools,which can visually analyze the actual operation and programming trajectory of the robot.Finally,the accuracy of the trajectory analysis and the feasibility of the correction method are verified through experiments.By analyzing the joint trajectory of the programmed trajectory,it is possible to obtain an area that does not reach the programming speed under the limit of the joint property before the trajectory is actually operated,thereby providing a look-ahead effect for subsequent trajectory planning.The proposed speed correction method makes the program run smoothly.