Research On Modeling And Control Algorithm Of AUBO-I5 Manipulator

As the pace of social development is becoming more and more urgent,the important role of industrial robots in the manufacturing industry has become increasingly prominent,including improving work efficiency,reducing human losses,reducing costs,etc.,providing a strong guarantee for the development of the entire industry.It has significant practical value.The research object of this paper is the AUBO-I5 robot arm purchased by the laboratory.The main research contents are as follows:Firstly,the mathematical knowledge required for robot modeling and the mechanical structure and parameters of the AUBO-I5 type manipulator are introduced.The DH method is used to model it.Based on the mastery of the link coordinate system,the AUBO-I5 motion is analyzed.Learning equation,reference matrix inverse transformation principle,analysis of AUBO-I5 inverse kinematics formula.Using the MATLAB software,the analyzed AUBO-I5 forward and inverse kinematics formula was verified to prove the accuracy of modeling AUBOI5.The trajectory of AUBO-I5 is selected to be planned in the joint space.The formula for interpolating the trajectory by cubic polynomial is deduced in detail.On the basis of this,in order to form a sharp contrast,the formula for interpolating the trajectory with high-order polynomial is also given.A specific calculation method has been produced.A brief description of the situation when the selected trajectory is planned in the Cartesian coordinate space is given.Using MATLAB software,the simulation study of AUBO-I5 trajectory planning is completed and the correctness of the method is proved.In the kinetic analysis,the Lagrangian method is introduced,and after simplification,the kinetic equation of AUBO-I5 is derived.Finally,the trajectory tracking of AUBO-I5 is controlled by RBF neural network.The controller for AUBO-I5 is designed.Using MATLAB software,the system module diagram for AUBO-I5 using RBF network is established in Simulink.The experiment completed the simulation study of AUBO-I5 trajectory tracking and proved the feasibility.