Research On Motion Planning Method Of Lens Profile Curve Machining Robot

Industrial robots are widely used in transportation,spot welding,stacking,etc.due to their high flexibility,versatility and flexible working space.They can improve industrial production efficiency and improve working conditions,and make an important contribution to industrial automation.Motion planning belongs to the underlying planning field in robotics,which can improve the smoothness of the joints of the robots,reduce the wear of mechanical parts and reduce the vibration and impact generated by the robot system.In this paper,the lens contour curve is selected as the research object of robot motion planning.Different interpolation methods are used to study the speed of each joint of the robot,which provides a theoretical basis for studying the rigid impact of each joint of the robot.According to the structural parameters,standard D-H method and homogeneous coordinate change of the universal six-degree-of-freedom joint robot,the kinematics model of the robot is established,and the matrix of the joint angular displacement and the robot's end pose is derived.The robot simulation model is established in Matlab and the correctness of the robot kinematics model is verified.For the inverse solution multi-solution problem in the robot kinematics model,the unique solution in the inverse solution multi-solution is determined according to the "motion continuous" criterion.The differential transformation method is used to solve the Jacobian matrix,and the linear mapping relationship between the angular velocity of each joint and the operating speed of the robot end is determined.Using the cubic NURBS interpolation method,comparing the linear and circular interpolation results,combined with the kinematics analysis results,the angular displacement and angular velocity of each joint when the robot end track is the lens contour curve is obtained.By selecting the appropriate interpolation method,the robot motion is reduced.The goal of a rigid shock caused by a sudden change in speed during the process.The PMAC control system sends the pulse command to the servo drive unit,drives the servo motor,builds the NURBS interpolation algorithm verification experiment platform,uses C++ to carry out the secondary development of PMAC,collects and analyzes the real-time data of the motion program,and finally verifies the interpolation method applied to the robot.The feasibility of motion planning for complex curves.