Research On Position Planning Of Typical Six-DOF Industrial Robot Base Based On Multi-Objective Optimization

In the actual operation,due to the large size and heavy weight of the industrial robot,the placement position is no longer free to move once selected.The placement position of the industrial robot has an important influence on the working performance of the industrial robot.If the placement is unreasonable,the task point will exceed the working range,reach the singular posture,the time and the energy consumption are too large.Therefore,the problem of placement planning of the industrial robot is particularly important.The process of this dissertation is to plan the trajectory of the industrial robot according to the set task point,set reasonable constraints,perform collision detection on obstacles in space,and combine the improved particle swarm algorithm to find the industrial robot and task.The optimal relative position enables it to perform specific tasks with high efficiency and low energy consumption.Firstly,the kinematics model of several typical manipulators is established based on the screw method,and the forward and inverse kinematics analysis is performed.The Cartesian space trajectory planning is carried out for the tasks that the manipulator needs to accomplish,and the joint space trajectory planning is performed after the path points are obtained,so that the angle,angular velocity and angular acceleration of each joint are continuously and smoothly changed.Secondly,the objective function of the planning process is simplified into three types of constraints,namely physical constraints,task constraints,and design constraints.The physical constraints are determined by the characteristics of the robot itself,such as the limitations of the joint,the singularity of the pose,the operability,and the reachability.Task constraints,that is,the user's focus on the completion of the task,can choose time constraints or energy constraints,or combine the two.The design constraints are that in the presence of obstacles in the environment,how to layout allows the robotic arm to collide with obstacles during the completion of the mission.Finally,based on the above three types of constraints,the improved particle swarm optimization algorithm is used to calculate the relative positional relationship between the industrial robot and the task.The correctness of the simulation verification algorithm is carried out in the robotstudio software,and the physical experiment is performed on the industry robot and the GUI interface is created based on the matlab software,which is convenient for users.