Trajectory Planning And Simulation Of Six-axis Industrial Robot

With the continuous improvement of industrial technology,industrial robot technology advances by leaps and bounds,and is widely used in industry.Among many industrial robot technologies,the research of robot trajectory planning is always the focus and difficulty in the field of robot research.Therefore,in this paper,the SA1400six-axis industrial robot trajectory planning research,mainly has the following aspects:Firstly,the development of industrial manipulators in our country and abroad is introduced,also the inverse kinematics and the status of the robot trajectory planning are described.At the same time,the development process of trajectory planning from low to high level is expounded.The structural parameters,working space and kinetics of SA1400 manipulator are studied in depth,and the D-H coordinate system is built on the basis of these,the transformation matrix is deduced,the positive and inverse kinematics' s analysis and their solutions are carried out.Then,the trajectory planning algorithm of the robot is studied.Considering the singularity of the robot moving in Cartesian space,The trajectory planning discussed in this paper is the planning of joint angle about time variables on the basis of joint space.The interpolation algorithms of cubic,quintic polynomial,spline curve and cubic B-spline curve are studied.Through theoretical research and experimental simulation,we can know that because of the fluctuation of the trajectory in the polynomial constructor,it can not be handled well at the interpolation point.Although the spline function can not only reflect the advantages of the continuity of the interpolation point,but also avoid the instability of the polynomial.Only The disadvantage of one is that its coefficient needs to be calculated all at one time.When the motion trajectory is complicated and the interpolation point is too complicated,the calculation of the whole interval will be too large.Therefore,using B-spline interpolation fitting algorithm can realize the smooth motion of robot,smooth velocity curve and continuous change of acceleration curve,which can effectively reduce the jitter problem in motion.Finally,we build the system platform in the laboratory for trajectory planning application.This paper proposed inverse kinematics algorithm is applied to the SA1400 industrial robot,will obtain the joint angle of valid values,using the fifth chapter explain the B spline interpolation algorithm to control points on the time variables calculated,finally the trajectory planning simulation.The test results show that the six axis industrial robot trajectory planning in the practical application,the robot runs smoothly,can meet the requirements.