Research On Motion Control And Trajectory Planning Of Six DOF Robot

With the development of increasingly modern industrial manufacturing,industrial robots have become an indispensable part of modern automation plants.As the core content of industrial robot research,motion control and trajectory planning provide technical support for robots to work stably and improve work efficiency.Because of the efficiency and stability of the robot application in measurement,it is not widely used in the measurement field.This article takes SP-CER10 six-degree-of-freedom robot entity as the research object,SP-CER10 six-degree-of-freedom robot space pose transformation,kinematics modeling analysis,trajectory planning,hardware control cabinet construction,optimization algorithm,virtual prototype and the h?man-machine interface design and simulation experiments are studied in these aspects.The main contents of this article are as follows:(1)Kinematics study of SP-CER10 six-degree-of-freedom industrial robotTaking the SP-CER10 six-degree-of-freedom robot as the research object,this article discusses kinematics related mathematical basis,coordinate transformation and pose description.The DH parameter method is introduced and the kinematics model based on SP-CER10 six-degree-of-freedom robot linkage coordinate system is established.Then the knowledge of coordinate transformation in the mathematical basis is used to solve the kinematics equations of the inverse and kinematics of the kinematics.The correctness of the kinematics model is verified by Matlab.(2)Research on trajectory planning simulation and optimization algorithm of SP-CER10 six-degree-of-freedom industrial robotThe Monta Carlo method is used to analyze the SP-CER10 six-degree-of-freedom robot workspace.According to the actual trajectory planning needs,the polynomial interpolation algorithm in joint space and linear interpolation and circular interpolation algorithm in Cartesian space are discussed and verified by simulation.In order to lay a foundation for trajectory planning under the application of aeronautical blade non-contact measurement,a new idea for measuring the path point of aviation blade trajectory is proposed.The virtual prototype design of the SP-CER10 robot is carried out by using the Robots Toolbox module in Matlab.At the same time,the joint drive function is written and the simulation is performed on the simulation platform using GUI tools.The results show the validity of the given trajectory control function.A time-optimal trajectory planning is based on genetic algorithm and another time-smoothing optimal trajectory planning scheme is based on improved particle swarm optimization are proposed.Combining genetic algorithm to construct the fitness function with time optimization as the target,this thesis establish the trajectory function structure and constraint condition discrimination,and complete the time optimization trajectory planning task to achieve certain optimization results.In combination with the basic particle swarm algorithm,the inverse order operator is added to redefine the optimal boundary condition and objective function of the algorithm with time-smoothing optimization.The individual extrem?m is used to pursue the global extrem?m and the initial random parameter value to regenerate the particle,and multiple adjustment strategies are adopted.The improved particle swarm optimization algorithm is used to optimize the time-smoothing of the planned trajectory.The results show that the robot's operating efficiency is improved.It reflects the superiority of the improved particle swarm optimization algorithm.(3)Software and hardware design and experimental research of SP-CER10 six-degree-of-freedom industrial robotThis research sets up a robot hardware control cabinet and establishes a "PC + STM32" control system.The QT is used to design the robot to control the man-machine interface,and the C++ program is used to realize the real-time motion control of the robot.Aiming at the chattering situation of the robot during the measurement of the airborne blade,the input shaping technology is proposed.The CardVibro Air2 vibration detecting sensor proves that the ZV shaper can significantly reduce the mutual interference between the joints and optimize the joint motion.The vibration suppression achieves the effect and ensures the stability of the robot end running in the measurement path of the aviation blade.Finally,combined with the non-contact measurement background of aviation blades in the project,the new ideas are used to select the robots in the scene.The trajectory planning is compared with the actual and theoretical.After the fitting and comparison,the actual trajectory and the theoretical trajectory almost coincide,and the effectiveness of the proposed scheme is verified.The SP-CER10 robot time-smoothed optimal trajectory planning method and input shaping technique are studied.The results show that the non-contact measurement of aviation blades can improve the efficiency and reduce the joint vibration.The maxim?m amplitude is reduced from 3.2?m to 2.4?m.The duration is reduced by 0.8s.The two methods are important for motion control and trajectory planning in the context of aerial blade measurement.