The Research And Application On High Precision Industrial Robot Motion Control And Trajectory Planning

Industrial robot is an important equipment developed by the country under the trend of intelligent manufacturing technology.They have been widely used in many industrial productions such as palletizing,handling,welding,cutting and assembly.In practical applications,industrial robots must control the trajectory of their tool center point(TCP)when performing different tasks.The level of motion control and trajectory planning directly affects the quality and efficiency of the work.In view of the increasing trajectory planning requirements in industrial production,this paper studies the trajectory planning of the SNRB6 industrial robot in space flight,so that it can improve the operation accuracy while operating stably in various industrial operations.The theoretical basis,modeling and kinematics of the robot are analyzed firstly in this paper.The kinematics model is established for the structure of SNRB6 robot using DH improved rule.The algorithm of forward and inverse solution and differential motion algorithm are analyzed and verified by simulation.Based on the kinematics model of the robot,the trajectory planning algorithms of the robot are analyzed in depth.The joint space includes three,five,seven,and other polynomial algorithms.The algorithms for linear and circular trajectories in Cartesian space are studied.The trajectory planning speed control strategy is used to simulate and verify the various trajectory planning algorithms.For the traditional trajectory planning problem,the improved RBF neural network planning method is proposed.The application of the planner effectively improves the trajectory planning.Precision and adaptability.For the welding application of trajectory planning,the accuracy requirements of the welding robot system are analyzed.Based on this,the feedforward control algorithm based on trajectory planning is adopted,and the accuracy of the accuracy improvement is verified on the actual prototype.Finally,the research is carried out.The robot's pendulum welding trajectory is analyzed respectively.The trajectory generation algorithm of plane pendulum welding and space L-type pendulum welding is analyzed,and the simulation and actual verification are carried out to ensure the welding quality on the actual prototype.