Research On Cartesian Space Trajectory Planning Of Tandem Robots

Robot is an automatic equipment that integrates various advanced technologies such as machinery,electronics,control,computer and sensor.It plays an extremely important role in modern manufacturing.Serial robot is an important branch of robot and have a wide range of applications in the automotive,electrical and electronics,plastics processing,machining,and chemical industries.The trajectory planning of serial robots is an important research direction in the field of tandem robot research.It is of great significance for improving the working efficiency of robots,ensuring the safety of working environment,improving product quality and reducing the energy loss of robots.In this paper,the serial robot is studied and its trajectory planning problem in Cartesian space is studied.Firstly,the D-H parameter method is used to establish the robot link coordinate system.On the basis of this,the forward kinematics and inverse kinematics of the robot are discussed respectively.Then the common trajectory planning methods for joint space and Cartesian space are introduced and deduced.Then,the parameter space of the robot trajectory planning is established by the introduction of path coordinates,and the problem of solving the optimal trajectory is transformed into the secondorder cone programming problem in convex optimization.By using the SeDuMi toolbox in MATLAB software,the global solution is solved.The optimal solution is obtained,and the trajectory with the shortest execution time is obtained.To solve the problem of time-optimal trajectory,a jerk-free approximation time optimal trajectory planning algorithm is proposed.The jerk point function is used to screen out the path points with jerk.The fifth-order polynomial is used to locally optimize the trajectory in the interval where the jerk point is located,thereby eliminating the jerk on the premise of ensuring short execution time.In order to verify the effectiveness of the algorithm,a three-degree-of-freedom serial robot is used as the model.The time-optimal trajectory and the jerk-free approximation time optimal trajectory are obtained by two methods.Through comparison of relevant parameters,it is proved that the jerk-free approximation time optimal trajectory planning algorithm can successfully eliminate the jerk and obtain a trajectory that can ensure the working efficiency of the robot and ensure the smooth running of the robot.