Research On Trajectory Planning And Virtual Monitoring Technology Of Six Axis Industry Robot

With the introduction of ? Made in China 2025 ? and Industry 4.0,intelligent manufacturing equipment represented by industrial robots has developed rapidly.For industrial robot,trajectory planning research provides an important guarantee for its precise and stable work.This paper mainly studies the robot's trajectory planning method,builds the robot's virtual environment,realizes the virtual teaching and virtual control of the robot,which provides the idea for the research of the virtual reality combined with the digital production line.Firstly,the robot's pose representation method was introduced.The MH5 F robot model was established by the improved D-H method.The forward kinematics and inverse kinematics of the six-degree-of-freedom robot were analyzed,and the robot workspace was simulated and analyzed.Secondly,aiming at the defects of the traditional planning algorithm,a planning method based on the combination of sine function and cosine function with different frequencies is used.By comparing with parabola,polynomial and other planning methods,it is proved that this method has lower speed and acceleration,which is beneficial to reduce the impact on the robot and reduce wear on joints.Then,the shortcomings of current algorithms in path planning in three-dimensional space are analyzed.Using the ant colony algorithm that incorporates the idea of artificial potential field,the advantages of the improved algorithm are described.Using this algorithm,the robot end-effector has obstacle avoidance path planning in its working space.Obstacle avoidance path planning was carried out,and the actual robot experimental platform was used to test the simulation results,and the influence of different paths on the robot trajectory was analyzed.Finally,aiming at the deficiency of current robot monitoring technology,a robot monitoring technology based on virtual reality technology is designed.The virtual environment was set up and the upper computer software was developed to realize the virtual teaching function of the robot.At the same time,the data communication betweenthe robot body and the host computer is accomplished using the TCP/IP protocol,and the function of using the virtual robot to remotely control and monitor the robot body is realized.According to the result of test,the system meets the needs of real-time monitoring.